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A Novel Sliding Mode Control Method for Double Pendulum Crane

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Jingling ZhangAuthors Info & Claims

ICITEE '20: Proceedings of the 3rd International Conference on Information Technologies and Electrical Engineering

Pages 321 - 327

https://doi.org/10.1145/3452940.3453002

Published: 17 May 2021 Publication History

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Abstract

As for the anti-pendulum positioning problem of distributing quality double pendulum bridge crane system, this paper designs a New Time-Varying Sliding Mode Control (NTVSMC). To be specific, first of all, the dynamic equation is established based on the distributed mass model of the double pendulum bridge crane. Then, a time-varying parameter is designed to realize the dynamic adjustment of sliding mode surface and enhance the adjustment ability of the sliding mode controller. Moreover, the asymptotic stability of the system is proved by the Lyapunov method. Finally, numerical simulation is used to verify that the proposed NTVSMC has good control performance and strong robustness against external interference. Simulation experiments show that comparing with conventional CSMC, the control method proposed in this paper can effectively reduce the driving force of the trolley, ensure the rapid and accurate positioning of the trolley and effectively restrain the load swing angle within 0.6 degrees or even less, with almost no residual swing angle.

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Cited By

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Zhang YLiu LLiang JChen JKe CHe D(2024)Application of a Multi-Strategy Improved Sparrow Search Algorithm in Bridge Crane PID Control SystemsApplied Sciences10.3390/app1412516514:12(5165)Online publication date: 13-Jun-2024
https://doi.org/10.3390/app14125165
Abdullahi AHamza MMohammed ZBello MAttahir MDarma F(2023)Distributed delay adaptive output-based command shaping for different cable lengths of double-pendulum overhead cranesInternational Journal of Dynamics and Control10.1007/s40435-023-01280-912:5(1466-1476)Online publication date: 21-Aug-2023
https://doi.org/10.1007/s40435-023-01280-9

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A Novel Sliding Mode Control Method for Double Pendulum Crane

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ICITEE '20: Proceedings of the 3rd International Conference on Information Technologies and Electrical Engineering

December 2020

687 pages

ISBN:9781450388665

DOI:10.1145/3452940

Permission to make digital or hard copies of all or part of this work for personal or classroom use is granted without fee provided that copies are not made or distributed for profit or commercial advantage and that copies bear this notice and the full citation on the first page. Copyrights for components of this work owned by others than ACM must be honored. Abstracting with credit is permitted. To copy otherwise, or republish, to post on servers or to redistribute to lists, requires prior specific permission and/or a fee. Request permissions from [email protected]

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Association for Computing Machinery

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Published: 17 May 2021

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the Science and Technology Project of Jiangmen City
the College Students' Innovative Entrepreneurial Training Plan Program

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ICITEE2020

ICITEE2020: The 3rd International Conference on Information Technologies and Electrical Engineering

December 3 - 5, 2020

Hunan, Changde City, China

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Zhang YLiu LLiang JChen JKe CHe D(2024)Application of a Multi-Strategy Improved Sparrow Search Algorithm in Bridge Crane PID Control SystemsApplied Sciences10.3390/app1412516514:12(5165)Online publication date: 13-Jun-2024
https://doi.org/10.3390/app14125165
Abdullahi AHamza MMohammed ZBello MAttahir MDarma F(2023)Distributed delay adaptive output-based command shaping for different cable lengths of double-pendulum overhead cranesInternational Journal of Dynamics and Control10.1007/s40435-023-01280-912:5(1466-1476)Online publication date: 21-Aug-2023
https://doi.org/10.1007/s40435-023-01280-9

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Designing of New Global Sliding Mode Controller for Bridge Crane

A pure neural network controller for double‐pendulum crane anti‐sway control: Based on Lyapunov stability theory

Payload pendulation and position control systems for an offshore container crane with adaptive‐gain sliding mode control

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