Modified Higher-Order Sliding Mode Observer-Based Super-Twisting Controller for Perturbed Overhead Cranes

被引：0
|
作者：
Shehu, Muhammad A. [1 ]
Li, Ai-jun [1 ]
Tian, Haochang [1 ]
机构：
[1] Northwestern Polytech Univ, Sch Automat, Xian, Shaanxi, Peoples R China
来源：
2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年
关键词：
Higher order sliding mode observer; super-twisting control; underactuated systems; cranes; anti-swing; DIFFERENTIATION;
D O I：
10.1109/cac48633.2019.8997439
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
The designs of feedback control and automation systems for overhead cranes require precise information about the crane states. Unfortunately, cranes are usually not equipped with velocity sensors. The current study deals with the problem of finite-time exact states estimation and control of perturbed overhead cranes subject to a dynamic disturbance. To address the state availability problem, a modified higher-order sliding mode observer (HOSMO) is proposed and a HOSMO based second-order super-twisting sliding mode control (STC-HOSMO) is proposed to control the system. Control applications and error analyses based on IAE and ITAE criteria showed the effectiveness of the proposed STC-HOSMO scheme. The results also showed that tracking/regulation and estimation error trajectories asymptotically converged to equilibrium. Additionally, attenuated chattering of the control effort is observed and second-order sliding mode (2-SM) is achieved.
引用
收藏
页码：255 / 260
页数：6
相关论文
共 50 条
  • [1] Implementation of Super-Twisting Control: Super-Twisting and Higher Order Sliding-Mode Observer-Based Approaches
    Chalanga, Asif
    Kamal, Shyam
    Fridman, Leonid M.
    Bandyopadhyay, Bijnan
    Moreno, Jaime A.
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2016, 63 (06) : 3677 - 3685
  • [2] Bearing Fault Diagnosis by a Robust Higher-Order Super-Twisting Sliding Mode Observer
    Piltan, Farzin
    Kim, Jong-Myon
    [J]. SENSORS, 2018, 18 (04)
  • [3] Implementation of Super-Twisting Control on Higher Order Perturbed Integrator System using Higher Order Sliding Mode Observer
    Kumari, Kiran
    Chalanga, Asif
    Bandyopadhyay, Bijnan
    [J]. IFAC PAPERSONLINE, 2016, 49 (18): : 873 - 878
  • [4] How to Implement Super-Twisting Controller based on Sliding Mode Observer?
    Chalanga, Asif
    Kamal, Shyam
    Fridman, L.
    Bandyopadhyay, B.
    Moreno, J. A.
    [J]. 2014 13TH INTERNATIONAL WORKSHOP ON VARIABLE STRUCTURE SYSTEMS (VSS), 2014,
  • [5] Sliding Mode Observer-Based Super-Twisting Controller for Under-Actuated Bridge Cranes Subject to Double-Pendulum Effect
    Alhassan, Ahmad Bala
    Shehu, Muhammad A.
    Muhammad, Bashir Bala
    Akbar, Sadiq
    Chancharoen, Ratchatin
    Phanomchoeng, Gridsada
    [J]. IEEE ACCESS, 2023, 11 : 100695 - 100706
  • [6] Disturbance observer-based Super-twisting Sliding Mode Control for Autonomous Surface Vessels
    Zhang, Chang
    Yu, Shuanghe
    Yan, Yan
    [J]. 2022 41ST CHINESE CONTROL CONFERENCE (CCC), 2022, : 474 - 479
  • [7] Accelerated Adaptive Second Order Super-Twisting Sliding Mode Observer
    Lin, Cheng
    Sun, Shengxiong
    Walker, Paul
    Zhang, Nong
    [J]. IEEE ACCESS, 2019, 7 : 25232 - 25238
  • [8] Adaptive Observer-Based Super-Twisting Sliding Mode Control for Low Altitude Quadcopter Grasping
    Smith, Sean
    Pan, Ya-Jun
    [J]. IEEE-ASME TRANSACTIONS ON MECHATRONICS, 2024,
  • [9] Fast Finite-Time Super-Twisting Sliding Mode Control with an Extended State Higher-Order Sliding Mode Observer for UUV Trajectory Tracking
    Guo, Liwei
    Liu, Weidong
    Li, Le
    Xu, Jingming
    Zhang, Kang
    Zhang, Yuang
    [J]. DRONES, 2024, 8 (02)
  • [10] Altitude control of an Unmanned Aircraft System using a Super-Twisting controller based on High Order Sliding Mode Observer
    Munoz, Filiberto
    Gonzalez-Hernandez, Ivan
    Espinoza, Eduardo S.
    Salazar, Sergio
    Osorio, Antonio
    [J]. 2015 WORKSHOP ON RESEARCH, EDUCATION AND DEVELOPMENT OF UNMANNED AERIAL SYSTEMS (RED-UAS), 2015, : 323 - 328
12345