Robust Sliding Mode Control with Integral Sliding surface of an underactuated rotary hook system

In this paper, robust Integral Sliding Mode Control (ISMC) will be proposed for an underactuated rotary hook system in order to deal with parametric uncertainties presenting in the system parameters. By using the proposed ISMC, the reaching phase encountered in the conventional SMC will be eliminate...

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Bibliographic Details
Published in2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM) pp. 998 - 1003
Main Authors Ho Duc Tho, Tasaki, Ryosuke, Kaneshige, Akihiro, Miyoshi, Takanori, Terashima, Kazuhiko
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.07.2017
Subjects
Containers
Cranes
Mathematical model
Payloads
Robustness
Sliding mode control
Uncertainty
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Summary:In this paper, robust Integral Sliding Mode Control (ISMC) will be proposed for an underactuated rotary hook system in order to deal with parametric uncertainties presenting in the system parameters. By using the proposed ISMC, the reaching phase encountered in the conventional SMC will be eliminated and as a consequence, the dynamic ambiguity, which occurs when the system is in the transient state forwarding to the sliding mode, can be completely avoided. Furthermore, when the system slides on the sliding surface, the constraints for controller gains will be clarified in order to ensure the robust stability of the closed-loop system. All of conclusions will be drawn through both simulation and experimental results.
ISBN:1509059989
9781509059980
ISSN:2159-6255
DOI:10.1109/AIM.2017.8014149