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.


    Access

    Check access

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

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


    Additional title:

    Lect. Notes Electrical Eng.


    Contributors:
    Yan, Liang (editor) / Duan, Haibin (editor) / Yu, Xiang (editor) / Shehu, Muhammad A. (author) / Li, Aijun (author) / Zeng, Ying (author)


    Publication date :

    2021-10-30


    Size :

    13 pages





    Type of media :

    Article/Chapter (Book)


    Type of material :

    Electronic Resource


    Language :

    English





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

    Shehu, Muhammad A. / Li, Aijun / Zeng, Ying | British Library Conference Proceedings | 2022


    Machinery Trolley Cranes

    Bhimani, A. K. / Hoite, S. / American Society of Civil Engineers; Committee on Ports and Harbors et al. | British Library Conference Proceedings | 1998


    Control of overhead cranes

    NIEMELÄ MATIAS / RODAS MICHAEL / VOLOSHKIN JURI | European Patent Office | 2022

    Free access

    Curved double-track overhead trolley

    ZHANG ZHIQI | European Patent Office | 2015

    Free access