An Enhanced Coupling PD with Sliding Mode Control Method for Underactuated Double-pendulum Overhead Crane Systems

An enhanced coupling PD with sliding mode control method, called ECPD-SMC in short, is presented for double-pendulum overhead crane systems in this paper. The proposed method replaces the PD controller with the equivalent part of traditional SMC method, without any system parameters. The ECPD-SMC al...

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Bibliographic Details
Published inInternational journal of control, automation, and systems Vol. 17; no. 6; pp. 1579 - 1588
Main Authors Zhang, Menghua, Zhang, Yongfeng, Cheng, Xingong
Format Journal Article
LanguageEnglish
Published Bucheon / Seoul Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers 01.06.2019
Springer Nature B.V
제어·로봇·시스템학회
Subjects
Algorithms
Computer simulation
Control
Control systems design
Controllers
Coupling
Cranes
Disturbances
Engineering
Mathematical models
Mechatronics
Parameter uncertainty
Pendulums
Regular Papers
Robotics
Robust control
Sliding mode control
Trolley cranes
제어계측공학
Coupling behavior
underactuated systems
Schur complement
double-pendulum overhead cranes
PD-SMC
Lyapunov techniques
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Summary:An enhanced coupling PD with sliding mode control method, called ECPD-SMC in short, is presented for double-pendulum overhead crane systems in this paper. The proposed method replaces the PD controller with the equivalent part of traditional SMC method, without any system parameters. The ECPD-SMC algorithm is composed of PD control part and the SMC control part. The SMC part is utilized for constructing the frame of a controller, providing strong robustness with uncertain model, different system parameters, and external disturbances. The PD control part is used to stabilize the control system. Moreover, the coupling behavior between the trolley movement and the payload swing is enhanced, and hence, leads to an improved control performance. As shown by Lyapunov techniques and Schur complement, the proposed ECPD-SMC guarantees asymptotic result even in the presence of uncertainties, including model, system parameters, and various disturbances. Some simulation results are included to demonstrate the correctness and superior control performance of the designed controller.
Bibliography:http://link.springer.com/article/10.1007/s12555-018-0646-0
ISSN:1598-6446
2005-4092
DOI:10.1007/s12555-018-0646-0