Disturbance-observer-based antiswing control of underactuated crane systems via terminal sliding mode

作者：Zhang, Zhongcai^*; Li, Li; Wu, Yuqiang

来源：IET Control Theory and Applications, 2018, 12(18): 2588-2594.

DOI：10.1049/iet-cta.2018.5344

• observers
• variable structure systems
• control system synthesis
• trolleys
• cranes
• trajectory control
• disturbance-observer-based antiswing control
• underactuated crane systems
• finite-time sliding mode control method
• antiswing control law
• finite-time disturbance observer
• finite-time control law
• two-dimensional space
• external disturbance estimation
• trolley regulation
• precise trolley positioning
• swing suppression

In this study, based on the finite-time sliding mode control method, an antiswing control law is designed for the underactuated crane systems in two-dimensional space with external disturbance. The finite-time disturbance observer is utilised to estimate the external disturbance and develop the finite-time control law. The designed controller can regulate the trolley to the planned trajectory within a finite time in the presence of external disturbance. Then it can be shown that the proposed control approach can achieve precise trolley positioning and swing suppression. Simulation results are provided to show the satisfactory control performances of the presented control method in terms of working efficiency as well as robustness with respect to external disturbance.

• 出版日期2018-12-18
• 单位曲阜师范大学