Xin Wang, Chuntong Liu, Zhenxin He
Xi’an Research Institute of High Technology, Baqiao District, Tongxin Road, Xi’an City, Shaanxi 710025, China
In this paper, a non-singular terminal sliding mode control method based on parameter adaptation is proposed for trajectory tracking control of overhead cranes with parameter uncertainties. The method can realize fast tracking of the planned overhead crane trajectory when the payload mass and the length of the suspension rope are unknown. At the same time, the hyperbolic tangent function is used to replace the switching term in the sliding mode control, which improves the robustness of the control method to external disturbances to suppress the charting during the crane operation. Using Lyapunov theorem, it is proved that the displacement trajectory can converge to the target trajectory in a finite time. The effectiveness of the proposed control scheme is verified by platform experiments.
Underactuated Overhead Crane, Adaptive Control, Non-Singular Terminal Sliding Mode
Xin Wang, Chuntong Liu, Zhenxin He. A Parameters Adaptive Non-Singular Terminal Sliding Mode Control Method for Overhead Crane System. International Journal of Frontiers in Engineering Technology (2022), Vol. 4, Issue 3: 42-48. https://doi.org/10.25236/IJFET.2022.040306.
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