Abstract
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.
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Abbreviations
- m c :
-
cargo mass (kg)
- m t :
-
trolley mass (kg)
- m b :
-
lumped mass of bridge (kg)
- m l :
-
equivalent mass of all rotating components of hoist (kg)
- x :
-
trolley displacement (m)
- l :
-
cargo suspended cable length (m)
- θ and φ :
-
cargo swing angles (rad)
- u t :
-
trolley-traveling force (N)
- u b :
-
bridge-moving force (N)
- u l :
-
cargo-lifting force (N)
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Tuan, L.A., Kim, JJ., Lee, SG. et al. Second-order sliding mode control of a 3D overhead crane with uncertain system parameters. Int. J. Precis. Eng. Manuf. 15, 811–819 (2014). https://doi.org/10.1007/s12541-014-0404-z
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DOI: https://doi.org/10.1007/s12541-014-0404-z