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Combined control with sliding mode and partial feedback linearization for 3D overhead cranes
Author(s) -
Tuan Le Anh,
Lee SoonGeul,
Ko Deok Hyeon,
Nho Luong Cong
Publication year - 2014
Publication title -
international journal of robust and nonlinear control
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 1.361
H-Index - 106
eISSN - 1099-1239
pISSN - 1049-8923
DOI - 10.1002/rnc.3061
Subject(s) - control theory (sociology) , underactuation , overhead crane , payload (computing) , controller (irrigation) , feedback linearization , sliding mode control , kinematics , engineering , nonlinear system , bridge (graph theory) , control engineering , linearization , input shaping , computer science , vibration , vibration control , control (management) , structural engineering , medicine , computer network , agronomy , physics , classical mechanics , quantum mechanics , artificial intelligence , network packet , biology
SUMMARY A 3D overhead crane is an underactuated system consisting of five outputs: trolley position, bridge translation, cable length, and two cargo swings. These outputs are controlled by three actuators for cargo hoisting, trolley motion, and bridge traveling. This study proposes the use of a nonlinear controller that performs five tasks concurrently: cargo hoisting, trolley tracking, bridge motion, payload vibration suppression during transport, and cargo swing elimination at the destination. The proposed algorithm is combined with two control components: (i) partial feedback linearization, which is a precursor to controller design, to suppress cargo vibration; and (ii) sliding mode method, which provides robust control in lifting the payload and driving trolley and bridge motions against model imprecision and uncertainty. These two control mechanisms are successfully merged into a combined controller because the kinematic relationships between the state variables are made apparent in the system dynamics. Simulation and experimental results show that the proposed controller asymptotically stabilizes all system responses.Copyright © 2013 John Wiley & Sons, Ltd.