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Second-Order Sliding Mode Control of a Perturbed-Crane
Umeå University, Faculty of Science and Technology, Department of Applied Physics and Electronics.
2015 (English)In: Journal of Dynamic Systems Measurement, and Control, ISSN 0022-0434, Vol. 137, no 8, 081010Article in journal (Refereed) Published
Abstract [en]

A fiv degrees-of-freedom overhead crane system affected by external erturbaions is the topic f study. Existing method justhandle the nperturbed case or, in addition, the analysis is limited to three or wo degrees-of-freedom. A wide range of processes cannot be restricted o these scenarios and this paper goes a step forward proposing a ontrol solution for a five degrees-of-freedom system under the esence f matched and unmatched disturbances. The contribution includes a del escription and a second-order sliding mode (SOSM) control design nsuring the precise trajectory tracking for the actuated variables and t the same time the regulation of the unactuated variables. urthermore, the proposed approach is supported by the design of strong yapunov fnctions providing an estimation of the convergence time. imulations and experiments, including a comparison with roportional-integral-derivatie (PID) controller, verified the dvantages of the methodology.

Place, publisher, year, edition, pages
2015. Vol. 137, no 8, 081010
National Category
Physical Sciences
URN: urn:nbn:se:umu:diva-107064DOI: 10.1115/1.4030253ISI: 000357582200010OAI: diva2:846890
Available from: 2015-08-18 Created: 2015-08-18 Last updated: 2015-08-18Bibliographically approved

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Vazquez, Carlos
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