Adaptive Sliding-Mode Antisway Control of Uncertain Overhead Cranes With High-Speed Hoisting Motion
Adaptive Sliding-Mode Antisway Control of Uncertain Overhead Cranes With High-Speed Hoisting Motion
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DOI：
10.1109/tfuzz.2013.2290139
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发表时间：
2014-01
影响因子：
11.9
通讯作者：
Mun-Soo Park;Dongkyoung Chwa;Myunghwan Eom
中科院分区：
文献类型：
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作者：
Mun-Soo Park;Dongkyoung Chwa;Myunghwan Eom
针对具有不确定性的桥式起重机高速起升运动，提出了一种自适应滑模控制律。由于摇摆动力学受到小车加速度和提升速度的干扰，通过定义一个滑动面，以这样一种方式，小车加速度有助于摇摆动力学的非线性阻尼在滑模控制的基础上设计的防摆控制律。此外，这种非线性阻尼的设计，使其主导的固有阻尼与提升速度耦合，使摇摆动力学的渐近稳定性可以实现。为了科普系统的不确定性，如系统参数的变化，未知的执行器非线性，未建模动态，和外部干扰，我们设计了一个模糊不确定性观测器，并将其纳入滑模抗滑控制律。通过稳定性分析和计算机仿真，我们表明，所提出的控制律保证了鲁棒性的桥式起重机，无论提升速度，即使在系统的不确定性的存在下，抗偏性能。
This paper proposes an adaptive sliding-mode antisway control law for uncertain overhead cranes with high-speed hoisting motion. Since the sway dynamics are disturbed by the trolley acceleration and hoisting velocity, antisway control law is designed based on the sliding mode control by defining a sliding surface in such a way that the trolley acceleration contributes to the sway dynamics as nonlinear damping in sliding mode. In addition, this nonlinear damping is designed such that it dominates the inherent damping coupled with the hoisting velocity so that the asymptotic stability of the sway dynamics can be achieved. To cope with system uncertainties such as system parameter variations, unknown actuator nonlinearities, unmodeled dynamics, and external disturbances, we design a fuzzy uncertainty observer and incorporate it into the sliding-mode antisway control law. Via the stability analysis and computer simulations, we show that the proposed control law guarantees the robust antisway performance of overhead cranes, regardless of hoisting velocity, even in the presence of system uncertainties.