Second-order sliding mode control of a 3D overhead crane with uncertain system parameters

被引：0
|
作者：
Le Anh Tuan
Jae-Jun Kim
Soon-Geul Lee
Tae-Gyoon Lim
Luong Cong Nho
机构：
[1] Vietnam Maritime University,Department of Mechanical Engineering
[2] Kyung Hee University,Graduate School of Mechanical Engineering
[3] Kyung Hee University,School of Mechanical Engineering
[4] Research Institute of Industrial Science and Technology,System Solution Research Department
[5] Vietnam Maritime University,undefined
来源：
International Journal of Precision Engineering and Manufacturing | 2014年 / 15卷
关键词：
Lyapunov function; 3D overhead crane; Sliding mode control; Uncertain parameters;
D O I：
暂无
中图分类号：
学科分类号：
摘要：
This paper proposes a second-order sliding mode controller for a three-dimensional overhead crane in an extremely complicated operation with uncertain system parameters. Three actuators composed of trolley-moving, bridge-traveling, and cargo-hoisting forces simultaneously drive fine outputs comprising bridge motion, trolley translation, cable length, and two payload swing angles. Simulation and experiment are performed to investigate the controller qualities. The proposed controller asymptotically stabilizes and consistently maintains system response even when some system parameters are extensively varied.
引用
收藏
页码：811 / 819
页数：8
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