A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects

Menghua Zhang; Xingjian Jing; Zaixing Zhu; Peiran Li; Lei Chen

doi:10.1007/978-981-16-5912-6_5

A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects

Menghua Zhang, Xingjian Jing^*, Zaixing Zhu, Peiran Li, Lei Chen

^*Corresponding author for this work

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

Abstract

A novel sliding mode control method, as is shown in this paper, is proposed for the 4-DOF tower crane system by employing beneficial disturbance effects to enhance the transient control performance as well as to ensure the strong robustness simultaneously. More precisely, we deliberately construct a nonlinear disturbance observer, and then, the advantages and disadvantages of the disturbance influence on the 4-DOF tower crane system are described by a constructed disturbance effect indicator (DEI) based on the observation information. Subsequently, the novel sliding model control method is designed in the light of the estimated disturbance and the introduced DEI. Additionally, the stability of the closed-loop system is demonstrated by Lyapunov techniques. It should be pointed out that the designed method points out that besides bad effects, disturbance has the desirable side-effect of transient control performance improvement, and as a result, introducing desirable side-effect into the controller design is of great importance. The effectiveness and robustness of the designed sliding model control method can be demonstrated by simulation results.

Original language	English
Title of host publication	Advances in Applied Nonlinear Dynamics, Vibration and Control - 2021
Subtitle of host publication	The proceedings of 2021 International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC2021)
Editors	Xingjian Jing, Hu Ding, Jiqiang Wang
Place of Publication	Singapore
Publisher	Springer
Pages	57-69
ISBN (Electronic)	978-981-16-5912-6
ISBN (Print)	9789811659119, 978-981-16-5914-0
DOIs	https://doi.org/10.1007/978-981-16-5912-6_5
Publication status	Published - 2022
Externally published	Yes
Event	International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC-2021) - Hong Kong Polytechnic University, Hong Kong, China Duration: 23 Aug 2021 → 25 Aug 2021 http://www.icandvc.com/

Publication series

Name	Lecture Notes in Electrical Engineering
Volume	799
ISSN (Print)	1876-1100
ISSN (Electronic)	1876-1119

Conference

Conference	International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC-2021)
Abbreviated title	ICANDVC2021
Place	Hong Kong, China
Period	23/08/21 → 25/08/21
Internet address	http://www.icandvc.com/

Funding

Acknowledgements. This work was supported in part by the Key Research and Development (Special Public-Funded Projects) of Shandong Province (2019GGX104058), the National Natural Science Foundation for Young Scientists of China (61903155), the General Research Fund of HK RGC (15206717), the funding for Projects of Strategic Importance of The Hong Kong Polytechnic University (1-ZE1N), the Project of Innovation and Technology Fund (K-ZPCN), Natural Science Foundation for Young Scientists of Shandong Province (ZR2019QEE019) and the Doctoral Scientific Fund Project (xbs1910).

Research Keywords

Disturbance effect indicator
Disturbance observer
Robustness
Sliding mode control
Tower cranes
Transient control performance

RGC Funding Information

RGC-funded

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10.1007/978-981-16-5912-6_5

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Zhang, M., Jing, X., Zhu, Z., Li, P., & Chen, L. (2022). A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects. In X. Jing, H. Ding, & J. Wang (Eds.), Advances in Applied Nonlinear Dynamics, Vibration and Control - 2021: The proceedings of 2021 International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC2021) (pp. 57-69). (Lecture Notes in Electrical Engineering; Vol. 799). Springer . https://doi.org/10.1007/978-981-16-5912-6_5

Zhang, Menghua ; Jing, Xingjian ; Zhu, Zaixing et al. / A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects. Advances in Applied Nonlinear Dynamics, Vibration and Control - 2021: The proceedings of 2021 International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC2021). editor / Xingjian Jing ; Hu Ding ; Jiqiang Wang. Singapore : Springer , 2022. pp. 57-69 (Lecture Notes in Electrical Engineering).

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title = "A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects",

abstract = "A novel sliding mode control method, as is shown in this paper, is proposed for the 4-DOF tower crane system by employing beneficial disturbance effects to enhance the transient control performance as well as to ensure the strong robustness simultaneously. More precisely, we deliberately construct a nonlinear disturbance observer, and then, the advantages and disadvantages of the disturbance influence on the 4-DOF tower crane system are described by a constructed disturbance effect indicator (DEI) based on the observation information. Subsequently, the novel sliding model control method is designed in the light of the estimated disturbance and the introduced DEI. Additionally, the stability of the closed-loop system is demonstrated by Lyapunov techniques. It should be pointed out that the designed method points out that besides bad effects, disturbance has the desirable side-effect of transient control performance improvement, and as a result, introducing desirable side-effect into the controller design is of great importance. The effectiveness and robustness of the designed sliding model control method can be demonstrated by simulation results.",

keywords = "Disturbance effect indicator, Disturbance observer, Robustness, Sliding mode control, Tower cranes, Transient control performance",

author = "Menghua Zhang and Xingjian Jing and Zaixing Zhu and Peiran Li and Lei Chen",

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booktitle = "Advances in Applied Nonlinear Dynamics, Vibration and Control - 2021",

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Zhang, M, Jing, X, Zhu, Z, Li, P & Chen, L 2022, A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects. in X Jing, H Ding & J Wang (eds), Advances in Applied Nonlinear Dynamics, Vibration and Control - 2021: The proceedings of 2021 International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC2021). Lecture Notes in Electrical Engineering, vol. 799, Springer , Singapore, pp. 57-69, International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC-2021), Hong Kong, China, 23/08/21. https://doi.org/10.1007/978-981-16-5912-6_5

A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects. / Zhang, Menghua; Jing, Xingjian; Zhu, Zaixing et al.
Advances in Applied Nonlinear Dynamics, Vibration and Control - 2021: The proceedings of 2021 International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC2021). ed. / Xingjian Jing; Hu Ding; Jiqiang Wang. Singapore: Springer , 2022. p. 57-69 (Lecture Notes in Electrical Engineering; Vol. 799).

Research output: Chapters, Conference Papers, Creative and Literary Works › RGC 32 - Refereed conference paper (with host publication) › peer-review

TY - GEN

T1 - A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects

AU - Zhang, Menghua

AU - Jing, Xingjian

AU - Zhu, Zaixing

AU - Li, Peiran

AU - Chen, Lei

PY - 2022

Y1 - 2022

N2 - A novel sliding mode control method, as is shown in this paper, is proposed for the 4-DOF tower crane system by employing beneficial disturbance effects to enhance the transient control performance as well as to ensure the strong robustness simultaneously. More precisely, we deliberately construct a nonlinear disturbance observer, and then, the advantages and disadvantages of the disturbance influence on the 4-DOF tower crane system are described by a constructed disturbance effect indicator (DEI) based on the observation information. Subsequently, the novel sliding model control method is designed in the light of the estimated disturbance and the introduced DEI. Additionally, the stability of the closed-loop system is demonstrated by Lyapunov techniques. It should be pointed out that the designed method points out that besides bad effects, disturbance has the desirable side-effect of transient control performance improvement, and as a result, introducing desirable side-effect into the controller design is of great importance. The effectiveness and robustness of the designed sliding model control method can be demonstrated by simulation results.

AB - A novel sliding mode control method, as is shown in this paper, is proposed for the 4-DOF tower crane system by employing beneficial disturbance effects to enhance the transient control performance as well as to ensure the strong robustness simultaneously. More precisely, we deliberately construct a nonlinear disturbance observer, and then, the advantages and disadvantages of the disturbance influence on the 4-DOF tower crane system are described by a constructed disturbance effect indicator (DEI) based on the observation information. Subsequently, the novel sliding model control method is designed in the light of the estimated disturbance and the introduced DEI. Additionally, the stability of the closed-loop system is demonstrated by Lyapunov techniques. It should be pointed out that the designed method points out that besides bad effects, disturbance has the desirable side-effect of transient control performance improvement, and as a result, introducing desirable side-effect into the controller design is of great importance. The effectiveness and robustness of the designed sliding model control method can be demonstrated by simulation results.

KW - Disturbance effect indicator

KW - Disturbance observer

KW - Robustness

KW - Sliding mode control

KW - Tower cranes

KW - Transient control performance

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SN - 9789811659119

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ER -

Zhang M, Jing X, Zhu Z, Li P, Chen L. A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects. In Jing X, Ding H, Wang J, editors, Advances in Applied Nonlinear Dynamics, Vibration and Control - 2021: The proceedings of 2021 International Conference on Applied Nonlinear Dynamics, Vibration and Control (ICANDVC2021). Singapore: Springer . 2022. p. 57-69. (Lecture Notes in Electrical Engineering). Epub 2021 Sept 24. doi: 10.1007/978-981-16-5912-6_5

A Novel Sliding Mode Control Method for Tower Crane Systems by Employing Beneficial Disturbance Effects

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Research Keywords

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