کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
5007002 | 1461553 | 2017 | 10 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Sliding mode control for underactuated overhead cranes suffering from both matched and unmatched disturbances
ترجمه فارسی عنوان
کنترل حالت کشویی برای جرثقیل های سربار زیرزمینی که از هرگونه اختلال همسان و بی نظیر رنج می برند
دانلود مقاله + سفارش ترجمه
دانلود مقاله ISI انگلیسی
رایگان برای ایرانیان
کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
کنترل و سیستم های مهندسی
چکیده انگلیسی
Overhead cranes, which are known as typical underactuated systems, are extensively studied in recent years. However, many existing methods for overhead cranes are developed based on a relatively ideal model, with little consideration for persistent external disturbances, unmodeled dynamics, uncertain system parameters and so on. Thus, their performance may badly degrade when it comes to practical applications, and this problem is made even worse when the system suffers from unmatched disturbances. To tackle this issue, a sliding mode control (SMC) method is proposed in this paper, which ensures satisfactory control performance even when the crane works under unfavorable conditions. The asymptotic stability of the desired equilibrium point is backed up with rigorous Lyapunov-based analysis. Furthermore, to alleviate the chattering problem inherent to SMC, a disturbance observer is further designed for overhead cranes to estimate and then eliminate the influence of the disturbances. Both simulation and hardware experimental results are provided to validate the efficiency and robustness of the proposed control strategy. To the best of our knowledge, this paper proposes the first method that can solve the control problem of overhead cranes suffering from both matched and unmatched disturbances, without tuning to linearizations or approximations.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Mechatronics - Volume 47, November 2017, Pages 116-125
Journal: Mechatronics - Volume 47, November 2017, Pages 116-125
نویسندگان
Biao Lu, Yongchun Fang, Ning Sun,