论文摘要
In this paper, a new adaptive hierarchical sliding mode control scheme for a 3D overhead crane system is proposed. A controller is first designed by the use of a hierarchical structure of two first-order sliding surfaces represented by two actuated and un-actuated subsystems in the bridge crane. Parameters of the controller are then intelligently estimated, where uncertain parameters due to disturbances in the 3D overhead crane dynamic model are proposed to be represented by radial basis function networks whose weights are derived from a Lyapunov function. The proposed approach allows the crane system to be robust under uncertainty conditions in which some uncertain and unknown parameters are highly difficult to determine. Moreover, stability of the sliding surfaces is proved to be guaranteed. Effectiveness of the proposed approach is then demonstrated by implementing the algorithm in both synthetic and reallife systems, where the results obtained by our method are highly promising.
论文目录
文章来源
类型: 期刊论文
作者: Viet-Anh Le,Hai-Xuan Le,Linh Nguyen,Minh-Xuan Phan
来源: International Journal of Automation and Computing 2019年05期
年度: 2019
分类: 信息科技,工程科技Ⅱ辑
专业: 机械工业,自动化技术
单位: Department of Automatic Control, Hanoi University of Science and Technology,Centre for Autonomous Systems, University of Technology Sydney
分类号: TP13;TP183;TH215
页码: 614-627
总页数: 14
文件大小: 1489K
下载量: 23
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