In actual overhead cranes, double-pendulum (DP) effect and uncertainty will inevitably occur. This study considers these effects to improve position tracking accuracy and sway regulation for perturbed DP overhead cranes. A prescribed-performance-control based sliding-mode control (SMC-PPC) scheme to regulate the sways and satisfy some transient and steady-state (TSS) performance metrics specifications on trolley tracking error. A prescribed performance function (PPF) and an error-transformation-function (ETF) are investigated so that performance metrics on trolley tracking error can be achieved. The challenge from the unavoidable friction is circumvented using a recently developed continuously differentiable friction model. The closed-loop stability is analysed using Lyapunov method. Simulation experiments show that both hook and payload TSS sways are effectively regulated and that trolley error converged into a pre-defined narrow vestigial set, having a rate of convergence of at least a preassigned value, exhibiting maximum overshoots and undershoots below some small enough pre-set values.


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    Titel :

    Sliding Mode Control of Non-linear Double-Pendulum Overhead Cranes with Prescribed Trolley Convergence


    Weitere Titelangaben:

    Lect. Notes Electrical Eng.


    Beteiligte:
    Yan, Liang (Herausgeber:in) / Duan, Haibin (Herausgeber:in) / Yu, Xiang (Herausgeber:in) / Shehu, Muhammad A. (Autor:in) / Li, Aijun (Autor:in) / Zeng, Ying (Autor:in)


    Erscheinungsdatum :

    30.10.2021


    Format / Umfang :

    13 pages





    Medientyp :

    Aufsatz/Kapitel (Buch)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch




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