控制理论(社会学)
桥式起重机
欠驱动
滑模控制
稳健性(进化)
国家观察员
非线性系统
控制器(灌溉)
MATLAB语言
摇摆
工程类
控制工程
观察员(物理)
计算机科学
控制(管理)
化学
人工智能
基因
物理
操作系统
生物
机械工程
结构工程
量子力学
生物化学
农学
作者
Naif B. Almutairi,Mohamed Zribi
标识
DOI:10.1177/1077546309105095
摘要
This paper deals with the sliding mode control of a three-dimensional overhead crane. The model of the crane consists of five highly nonlinear second-order ordinary differential equations. The crane is an underactuated system, which makes the design of its controllers intricate. A sliding mode control scheme is proposed for the crane. This scheme, which guarantees the asymptotic stability of the closed-loop system, has two objectives: position regulation and anti-swing control. The performance of the closed-loop system is simulated using MATLAB. The simulation results indicate that the proposed control scheme works well. In addition, the robustness of the controller with respect to uncertainties in the crane parameters is investigated through simulations. It is found that the controller is robust to changes in the parameters. Moreover, since some of the states of the system are not measurable, a Luenberger-type observer is proposed. Simulation of the controlled system using the observer-based sliding mode controller produced good results.
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