Second Order Sliding Mode Control of a 3-Dimensional Overhead-Crane

被引：0

作者：

Vazquez, Carlos ^{[1
]}

Fridman, Leonid ^{[1
]}

Collado, Joaquin ^{[2
]}

机构：

[1] Univ Nacl Autonoma Mexico, Dept Control Engn & Robot, Mexico City 04510, DF, Mexico

[2] CINVESTAV, Dept Automat Control, IPN, Mexico City 07360, DF, Mexico

来源：

2012 IEEE 51ST ANNUAL CONFERENCE ON DECISION AND CONTROL (CDC) | 2012年

关键词：

ORDER;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the 3-Dimensional Overhead Crane is the subject of study. The note includes the Euler-Lagrange equations of a 5 degrees of freedom, 5DOF, Overhead Crane and the design of a Second Order Sliding Mode Controller in order to ensure the precise load transfer during the load movement despite of model uncertainties and un-modeled dynamics. Moreover, the system is under-actuated and 5DOF should be controlled with 3 control actions. The stability analysis is developed based on Lyapunov second method ensuring the finite time convergence to the desired sliding output. Simulations and Experimental results are presented.

引用

页码：6472 / 6476

页数：5

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