Design of sliding-mode controller for anti-swing control of overhead cranes

Kuo Kai Shyu, Cheng Lung Jen, Li Jen Shang

研究成果: 書貢獻/報告類型會議論文篇章同行評審

22 引文 斯高帕斯(Scopus)

摘要

In this study, the anti-swing control problem for an underactuated overhead crane system is considered. The minimizing the swing angle and maximizing the speed of load transfer are contradict to each other, which means that the stability of swing dynamics and accurate trolley position control with uncertainties is hard to implement simultaneously by using fewer actuators. In this paper, an anti-swing control scheme is designed based on the sliding-mode control to satisfy the strict specification on the swing angle and accurate trolley position control in spite of load mass uncertainty. Simulation results show that the proposed control guarantees the asymptotically stability of sliding surface and stabilize the swing dynamics with exponential decay.

原文???core.languages.en_GB???
主出版物標題IECON 2005
主出版物子標題31st Annual Conference of IEEE Industrial Electronics Society
頁面147-152
頁數6
DOIs
出版狀態已出版 - 2005
事件IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society - Raleigh, NC, United States
持續時間: 6 11月 200510 11月 2005

出版系列

名字IECON Proceedings (Industrial Electronics Conference)
2005

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???event.eventtypes.event.conference???IECON 2005: 31st Annual Conference of IEEE Industrial Electronics Society
國家/地區United States
城市Raleigh, NC
期間6/11/0510/11/05

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