Robust sliding-mode control for a gantry crane system subject to external disturbance

• Published in: Nonlinear dynamics Vol. 112; no. 6; pp. 4599 - 4615
• Main Authors: Zhang, Jiayang, Wu, Wei, Huang, Xin
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.03.2024; Springer Nature B.V
• Subjects: Automotive Engineering; Classical Mechanics; Closed loop systems; Control; Controllers; Design; Detainer; Dynamical Systems; Engineering; Gantry cranes; Hilbert space; Mechanical Engineering; Operators (mathematics); Original Paper; Partial differential equations; Process controls; Robust control; Sliding mode control; Vibration; Distributed parameters system; Operator semigroup; Sliding-mode controller; Partial differential equations; Gantry crane system
• ISSN: 0924-090X; 1573-269X
• DOI: 10.1007/s11071-024-09294-4

This paper devotes to proposing a sliding-mode controller to reject external disturbance and stabilize the gantry crane system which formulated by the partial differential equations (PDEs). The control objectives are transporting trolley hanging with a payload to the specified place while eliminating the oscillation and rejecting the external disturbance in transportation. By applying the operator semigroup theory, it can be proved that proposed controller is well-posed to the gantry crane system. Furthermore, asymptotic stability has been proved through the application of the extended Krasovskii-LaSalles’ invariance principle. Ultimately, numerical simulations are given to illustrate the advance of proposed control scheme and an experiment is conducted to display the feasibility of proposed sliding-mode controller.