Discrete time integral sliding mode control for overhead crane with uncertainties

Access Full Text

Discrete time integral sliding mode control for overhead crane with uncertainties

For access to this article, please select a purchase option:

Buy article PDF
£12.50
(plus tax if applicable)
Add to cart
Buy Knowledge Pack
10 articles for £75.00
(plus taxes if applicable)
Add to cart

IET members benefit from discounts to all IET publications and free access to E&T Magazine. If you are an IET member, log in to your account and the discounts will automatically be applied.

Learn more about IET membership 

Recommend Title Publication to library

You must fill out fields marked with: *

Librarian details
Name:*
Email:*
Your details
Name:*
Email:*
Department:*
Why are you recommending this title?
Select reason:
 
 
 
 
 
IET Control Theory & Applications — Recommend this title to your library

Thank you

Your recommendation has been sent to your librarian.

© The Institution of Engineering and Technology
Published

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.

Inspec keywords: variable structure systems; cranes; linear systems; control system synthesis; closed loop systems; discrete time systems; stability; integral equations

Other keywords: discrete time systems; uncertainty prescence; disturbance signal; integral sliding mode control; changing rope length; overhead crane; linear model; controller design theory; closed-loop stability conditions

Subjects: Control applications to materials handling; Mathematical analysis; Materials handling equipment; Control system analysis and synthesis methods; Control technology and theory (production); Discrete control systems; Multivariable control systems; Stability in control theory; Mathematical analysis

References

    1. 1)
      • W. Gao , Y. Wang , A. Homaifa . Discrete-time variable structure control systems. IEEE Trans. Ind. Electron. , 2 , 117 - 122
    2. 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. 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. 4)
      • A. Piazzi , A. Visi . Optimal dynamic-inversion-based control of an overhead crane. IEE Proc. Control Theory Appl. , 5 , 405 - 412
    5. 5)
      • J. Ackermann , V.I. Utkin . Sliding mode control design based on ackermann's formula. IEEE Trans. Autom. Control , 2 , 234 - 237
    6. 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. 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. 8)
      • B. Wang , X. Yu , G. Chen . ZOH discretization effect on single-input sliding mode control systems with matched uncertainties. Automatica , 119 - 125
    9. 9)
      • K. Abidi , J.X. Xu , X. Yu . On the discrete-time integral sliding-mode control. IEEE Trans. Autom. Control , 4 , 709 - 715
    10. 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. 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. 12)
      • V.I. Utkin . Variable structure systems with sliding modes. IEEE Trans. Autom. Control , 2 , 212 - 222
    13. 13)
      • Wei, B.N.: `An innovative approach to overhead crane control', 2008, Bachelor's Degree, University of New South Wales.
    14. 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. 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. 16)
      • C.Y. Chang . Adaptive fuzzy controller of the overhead cranes with nonlinear disturbance. IEEE Trans. Ind. Inf. , 2 , 164 - 172
    17. 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
Loading

Related content

content/journals/10.1049/iet-cta.2009.0558
pub_keyword,iet_inspecKeyword,pub_concept
6
6
Loading