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

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 comprisi...

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Bibliographic Details
Published inInternational journal of precision engineering and manufacturing Vol. 15; no. 5; pp. 811 - 819
Main Authors Tuan, Le Anh, Kim, Jae-Jun, Lee, Soon-Geul, Lim, Tae-Gyoon, Nho, Luong Cong
Format Journal Article
LanguageEnglish
Published Springer Korean Society for Precision Engineering 01.05.2014
Subjects
Engineering
Industrial and Production Engineering
Materials Science
Uncertain parameters
Sliding mode control
3D overhead crane
Lyapunov function
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Summary: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.
ISSN:2234-7593
2005-4602
DOI:10.1007/s12541-014-0404-z