文章基本信息

标题：Robust Positioning Control Law for a 3D Underactuated Crane System
本地全文：下载
作者：Ramón I. Verdés Kairuz ; Luis T. Aguilar ; Alejandra Ferreira de Loza 等
期刊名称：IFAC PapersOnLine
印刷版ISSN：2405-8963
出版年度：2018
卷号：51
期号：13
页码：450-455
DOI：10.1016/j.ifacol.2018.07.319
语种：English
出版社：Elsevier
摘要：AbstractAn existent risk in automated gantry cranes is that the payload, attached to the end of the suspension cable, can swing randomly due to the acceleration of the trolley, by the perturbation of external disturbances, among other unpredictable factors. In this paper, we design second order sliding mode payload position controllers via collocated partial feedback linearization to address such problem. In particular, a super-twisting controller was synthesized to drive the position of the trolley to the desired point, and a twisting controller was derived to stabilize the height of the cable. The proposed sliding surface makes the zero dynamics locally asymptotically stable. We tested the results on an experimental gantry crane system which is affected by matched and mismatched disturbances.
关键词：KeywordsCranesliding mode controlposition regulationexternal perturbationspartial feedback linearization