Abstract
In this paper, a novel periodic sliding mode control method is designed for 4-DOF tower crane systems with unmatched disturbances as well as unknown/time-varying control directions. Specifically, the nonlinear disturbance observer is constructed to solve the unmatched uncertainties. The problems arising from unknown/time-varying control directions are tackled through the period sliding mode technique. Unlike most previous unknown control direction-related studies, the control coefficient is allowed to cross 0 in a continuous way. In addition, to improve the payload swing suppression and elimination performance, nonlinear terms involving payload swing information are elaborately injected into the control design. As far as we know, the designed periodic sliding mode control scheme provides the first control method for crane systems to successfully guarantee positioning as well as anti-swing performance in spite of unmatched disturbances and unknown control directions. The rigorous theoretical analysis is presented through Lyapunov techniques. Several simulations and experimental results are carried out to illustrate the merits of the designed periodic sliding mode control method. © 2024 IEEE.
| Original language | English |
|---|---|
| Pages (from-to) | 15909-15921 |
| Journal | IEEE Transactions on Intelligent Transportation Systems |
| Volume | 25 |
| Issue number | 11 |
| Online published | 19 Jun 2024 |
| DOIs | |
| Publication status | Published - Nov 2024 |
Funding
This work was supported in part by the National Natural Science Foundation of China under Grant 62273163, in part by Taishan Scholar Foundation of Shandong Province under Grant tsqn202312212, in part by the Outstanding Youth Foundation of Shandong Province under Grant ZR2023YQ056, in part by the Startup Fund of City University of Hong Kong under Grant 9380140, in part by the Key Research and Development Project of Shandong Province under Grant 2022CXGC010503, and in part by the Youth Foundation of Shandong Province under Grant ZR202102230323.
Research Keywords
- Actuators
- Cranes
- disturbance observer
- Disturbance observers
- Payloads
- periodic sidling mode control
- Poles and towers
- Sliding mode control
- Tower crane
- unknown/time-varying control directions
- unmatched disturbances
- Vectors
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