Adaptive Backstepping Hierarchical Sliding Mode Control for Uncertain 3D Overhead Crane Systems

被引：0

作者：

Rai Le Xuan ^{[1
]}

Thai Nguyen Van ^{[1
]}

Anh Le Viet ^{[1
]}

Nga Vu Thi Thuy ^{[1
]}

Minh Phan Xuan ^{[1
]}

机构：

[1] Ha Noi Univ Sci & Technol, Dept Automat Control, Hanoi, Vietnam

来源：

2017 INTERNATIONAL CONFERENCE ON SYSTEM SCIENCE AND ENGINEERING (ICSSE) | 2017年

关键词：

backstepping; radial basis function (RBF); hierarchical sliding mode control;

D O I：

暂无

中图分类号：

TP18 [人工智能理论];

学科分类号：

081104 ; 0812 ; 0835 ; 1405 ;

摘要：

This paper presents an adaptive backstepping hierarchical sliding mode control algorithm for uncertain 3D overhead crane model. Backstepping sliding mode is constructed based on hierarchical structure to guarantee tracking for trolley and anti-swing for load. Neural network is adopted to approximate the uncertain terms. The disadvantage of sliding mode control is fixed by changing signum function to saturation function. The purposes of this paper are to use RBF neural network to approximate nonlinear function of crane, design hierarchical sliding mode controller based on Lyapunov theory.

引用

页码：438 / 443

页数：6

共 50 条

[31] Hierarchical Adaptive Backstepping Sliding Mode Control for Underactuated Space Robot
Tian Zhixiang
Wu Hongtao
Feng Chun
[J]. 2010 2ND INTERNATIONAL ASIA CONFERENCE ON INFORMATICS IN CONTROL, AUTOMATION AND ROBOTICS (CAR 2010), VOL 1, 2010, : 500 - 503
[32] Adaptive Hierarchical Sliding Control of Overhead Crane System with Haar Wavelet Function Estimator
Chang, Yin-Chieh
Shaw, Jin-Siang
[J]. JOURNAL OF THE CHINESE SOCIETY OF MECHANICAL ENGINEERS, 2012, 33 (03): : 193 - 202
[33] Adaptive hierarchical sliding control of overhead crane system with haar wavelet function estimator
Chang, Yin-Chieh
Shaw, Jin-Siang
[J]. Journal of the Chinese Society of Mechanical Engineers, Transactions of the Chinese Institute of Engineers, Series C/Chung-Kuo Chi Hsueh Kung Ch'eng Hsuebo Pao, 2012, 33 (03): : 193 - 202
[34] Adaptive Backstepping Sliding Mode Control for Fractional Order Systems
Chen, Xiang
Zheng, Shiqi
Liu, Feng
Zhang, Xiongliang
Sun, Yuan
[J]. PROCEEDINGS OF THE 39TH CHINESE CONTROL CONFERENCE, 2020, : 520 - 525
[35] Adaptive backstepping sliding mode control for theodolite rotating systems
He, Zhenxin
Huang, Xianxiang
Liu, Chuntong
Zhu, Quanmin
Zhan, Ying
Deng, Gangfeng
[J]. INTERNATIONAL JOURNAL OF MODELLING IDENTIFICATION AND CONTROL, 2014, 22 (03) : 249 - 260
[36] Robust Adaptive Backstepping Sliding Mode Control for a Class of Uncertain Nonlinear System
Wang, Suzhen
Dai, Mingxing
Wang, Yanan
[J]. 2018 CHINESE AUTOMATION CONGRESS (CAC), 2018, : 3534 - 3538
[37] Adaptive backstepping non-singular fast terminal sliding mode control for mismatched uncertain systems
Li, Hao
Dou, Li-Hua
Su, Zhong
[J]. Kongzhi yu Juece/Control and Decision, 2012, 27 (10): : 1584 - 1587
[38] Payload swing control for 3D overhead crane based on fast non-singular terminal sliding mode
Wang S.-R.
Jin W.-Y.
Rui Z.-Y.
Zhang X.
[J]. Jilin Daxue Xuebao (Gongxueban)/Journal of Jilin University (Engineering and Technology Edition), 2023, 53 (12): : 3508 - 3517
[39] Adaptive sliding mode synchronous control of locked double-container of overhead crane
Xu, Pan
Xu, Wei-Min
Tan, Ying-Ying
Li, Zhong-Feng
[J]. Xu, W.-M. (wmxu@shmtu.edu.cn), 1940, Shanghai Jiaotong University (47): : 1940 - 1947
[40] Robust adaptive control of 3D crane systems with uncertainty
[J]. Trans. Korean Inst. Electr. Eng., 2008, 1 (102-108): : 102 - 108

← 1 2 3 4 5 →