The present disclosure provides a disturbance employment-based sliding mode control (DESMC) method for four-degrees-of-freedom (4-DOF) tower crane systems. The method includes the following steps: acquiring parameter data and operating state data of the 4-DOF tower crane systems; conducting, based on the acquired data, disturbance estimation by using a preset nonlinear disturbance observer, and conducting judgment on beneficial disturbance and detrimental disturbance according to a preset disturbance effect indicator (DEI); and adding the beneficial disturbance to a preset sliding mode controller, removing the detrimental disturbance, driving a jib and a trolley to a desired slew angle and a desired target displaced position, respectively, and setting a payload swing angle to 0 or within a preset range. According to the present disclosure, the disturbance effect is distinguished by introducing a DEI, such that good disturbance information is made full use of, and the transient control performance of the system is significantly improved.


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    Title :

    Disturbance Employment-Based Sliding Mode Control (DESMC) Method For 4-DOF Tower Crane Systems


    Contributors:

    Publication date :

    2023-12-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    English


    Classification :

    IPC:    B66C Krane , CRANES



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