© The Institution of Engineering and Technology
This study firstly addresses an integral sliding mode control method for discrete time systems. The underlying continuous system is affected by both matched and unmatched uncertainties. The past value of the disturbance signal is taken as the estimate of its present value. The sliding mode controller is designed to ensure the existence of sliding mode in the presence of uncertainties. The proportional part is designed based on the analysis of closed-loop stability conditions. The controller design theory above is applied to an overhead crane system in later sections. The overhead crane system, which is a familiar control problem is described by a linear model, the parameters of which are estimated. It is affected by uncertainties such as friction, swing of the load and non-linearities because of changing rope length. Both simulation and experimental results are reported. The efficacy and robustness of the proposed controller are demonstrated.
References
-
-
1)
-
W. Gao ,
Y. Wang ,
A. Homaifa
.
Discrete-time variable structure control systems.
IEEE Trans. Ind. Electron.
,
2 ,
117 -
122
-
2)
-
J.D. Wang ,
T.L. Lee ,
Y.T. Juang
.
New methods to design an integral variable structure controller.
IEEE Trans. Autom. Control
,
1 ,
140 -
143
-
3)
-
W.J. Cao ,
J.X. Xu
.
Nonlinear integral-type sliding surface for both matched and unmatched uncertain systems.
IEEE Trans. Autom. Control
,
8 ,
1355 -
1360
-
4)
-
A. Piazzi ,
A. Visi
.
Optimal dynamic-inversion-based control of an overhead crane.
IEE Proc. Control Theory Appl.
,
5 ,
405 -
412
-
5)
-
J. Ackermann ,
V.I. Utkin
.
Sliding mode control design based on ackermann's formula.
IEEE Trans. Autom. Control
,
2 ,
234 -
237
-
6)
-
R.A. DeCarlo ,
S.H. Zak ,
G.P. Matthews
.
Variable structure control of nonlinear multivariable systems: a tutorial.
Proc. IEEE
,
3 ,
212 -
232
-
7)
-
Martindale, S.C., Dawson, D.WI., Zhu, J., Rahn, C.D.: `Approximate nonlinear control for a two degree of freedom overhead crane: theory and experimentation', Proc. American Control Conf., June 1996, Seattle, Washington, p. 301–305.
-
8)
-
B. Wang ,
X. Yu ,
G. Chen
.
ZOH discretization effect on single-input sliding mode control systems with matched uncertainties.
Automatica
,
119 -
125
-
9)
-
K. Abidi ,
J.X. Xu ,
X. Yu
.
On the discrete-time integral sliding-mode control.
IEEE Trans. Autom. Control
,
4 ,
709 -
715
-
10)
-
Sakawa, Y., Sano, H.: `Nonlinear model and linear robust control of overhead travelling cranes', Proc. Second World Congress of Nonlinear Analysts, 1997, p. 2197–2207.
-
11)
-
F. Castanos ,
L. Fridman
.
Analysis and design of integral sliding manifolds for systems with unmatched perturbations.
IEEE Trans. Autom. Control
,
5 ,
853 -
858
-
12)
-
V.I. Utkin
.
Variable structure systems with sliding modes.
IEEE Trans. Autom. Control
,
2 ,
212 -
222
-
13)
-
Wei, B.N.: `An innovative approach to overhead crane control', 2008, Bachelor's Degree, University of New South Wales.
-
14)
-
Utkin, V.I., Shi, J.: `Integral sliding mode in systems operating under uncertainty conditions', Proc. 35th Conf. on Decision and Control, December 1996, Kobe, Japan, p. 4591–4956.
-
15)
-
W.C. Su ,
S.V. Drakunov ,
U. Ozguner
.
An O(T2) boundary layer in sliding mode for sampled-data systems.
IEEE Trans. Autom. Control
,
3 ,
482 -
485
-
16)
-
C.Y. Chang
.
Adaptive fuzzy controller of the overhead cranes with nonlinear disturbance.
IEEE Trans. Ind. Inf.
,
2 ,
164 -
172
-
17)
-
C. Edwards ,
S.K. Spurgeon
.
(1998)
Sliding mode control, theory and applications.
http://iet.metastore.ingenta.com/content/journals/10.1049/iet-cta.2009.0558
Related content
content/journals/10.1049/iet-cta.2009.0558
pub_keyword,iet_inspecKeyword,pub_concept
6
6