Open AccessSwing Suppression Task in Double-pendulum Tower Cranes Using Robust Adaptive Sliding Mode Controller
Author(s) -
Zheng Tian,
Huimin Ouyang,
Lili Yu
Publication year - 2022
Publication title -
journal of physics. conference series
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.21
H-Index - 85
eISSN - 1742-6596
pISSN - 1742-6588
DOI - 10.1088/1742-6596/2213/1/012004
Subject(s) - control theory (sociology) , swing , underactuation , computer science , tower , controller (irrigation) , convergence (economics) , inverted pendulum , mode (computer interface) , double pendulum , tower crane , engineering , control (management) , nonlinear system , physics , artificial intelligence , structural engineering , quantum mechanics , economics , biology , economic growth , operating system , civil engineering , mechanical engineering , agronomy
In actual applications, tower crane systems are usually suffered from underactuated characteristic, double-pendulum effect, frictions, model uncertainties and disturbances etc. As a result of these problems, the control of tower cranes for accurate positioning and effective swing suppression becomes more difficult. To this end, we propose a robust adaptive sliding mode controller, which has adaptive gains varying by the system tracking error and adaptive terms to compensate the lumped disturbances in all DOF (degrees of freedom). Therefore, the system convergence rate is effectively increased and the disturbances-related factors are suppressed. Simulation results show that the proposed method can handle the actual conditions better.