Open AccessDesign of Sliding Mode Control for Overhead Crane Systems
Author(s) -
Emad. Q. Hussein,
Ayad Q. Al-Dujaili,
Ahmed R. Ajel
Publication year - 2020
Publication title -
iop conference series. materials science and engineering
Language(s) - English
Resource type - Journals
eISSN - 1757-899X
pISSN - 1757-8981
DOI - 10.1088/1757-899x/881/1/012084
Subject(s) - overhead crane , control theory (sociology) , sliding mode control , controller (irrigation) , linear quadratic regulator , lyapunov function , mode (computer interface) , overhead (engineering) , control engineering , stability (learning theory) , estimator , lyapunov stability , engineering , computer science , control (management) , mathematics , nonlinear system , agronomy , statistics , physics , electrical engineering , structural engineering , quantum mechanics , artificial intelligence , machine learning , biology , operating system
Overhead cranes are large used structures for lifting and conveying weighty loads. The design and modelling of imperceptible controllers based on the uncertainty and disturbance estimator for crane system. In this work, a SMC (Sliding Mode Control) of a crane system is proposed. The asymptotically stability system is ensured by Lyapunov functions. For validation of the proposed controller, a comparative study with LQR (Linear Quadratic Regulator) results show that both the controllers give satisfactory performance, but the SMC provides better overall performance. The proposed sliding mode control approach for overhead cranes system has shown to be more effective, robust and realistic than a LQR controller, and to be able to move cargo safely to a destination even in harsh environment. Simulation results of the study prove the favourable of the proposed controller during the transport of a crane system.