A five degrees-of-freedom overhead crane system affected by external perturbations is the topic of study. Existing methods just handle the unperturbed case or, in addition, the analysis is limited to three or two degrees-of-freedom. A wide range of processes cannot be restricted to these scenarios and this paper goes a step forward proposing a control solution for a five degrees-of-freedom system under the presence of matched and unmatched disturbances. The contribution includes a model description and a second-order sliding mode (SOSM) control design ensuring the precise trajectory tracking for the actuated variables and at the same time the regulation of the unactuated variables. Furthermore, the proposed approach is supported by the design of strong Lyapunov functions providing an estimation of the convergence time. Simulations and experiments, including a comparison with a proportional-integral-derivative (PID) controller, verified the advantages of the methodology.
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August 2015
Research-Article
Second-Order Sliding Mode Control of a Perturbed-Crane
Carlos Vázquez,
Carlos Vázquez
Department of Applied Physics and Electronics,
e-mail: carlos.vazquez@umu.se
Umeå University
,Umeå SE-901 87
, Sweden
e-mail: carlos.vazquez@umu.se
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Leonid Fridman,
Leonid Fridman
Professor
Department of Control Engineering and Robotics,
e-mail: lfridman@unam.mx
Department of Control Engineering and Robotics,
Universidad Nacional Autónoma de México
,Mexico City 04510
, Mexico
e-mail: lfridman@unam.mx
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Joaquin Collado,
Joaquin Collado
Professor
e-mail: jcollado@ctrl.cinvestav.mx
Department of Automatic Control CINVESTAV
,Av. IPN 2508
,Mexico City 07360
, Mexico
e-mail: jcollado@ctrl.cinvestav.mx
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Ismael Castillo
Ismael Castillo
Department of Control Engineering and Robotics,
e-mail: casism@gmail.com
Universidad Nacional Autónoma de México
,Mexico City 04510
, Mexico
e-mail: casism@gmail.com
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Carlos Vázquez
Department of Applied Physics and Electronics,
e-mail: carlos.vazquez@umu.se
Umeå University
,Umeå SE-901 87
, Sweden
e-mail: carlos.vazquez@umu.se
Leonid Fridman
Professor
Department of Control Engineering and Robotics,
e-mail: lfridman@unam.mx
Department of Control Engineering and Robotics,
Universidad Nacional Autónoma de México
,Mexico City 04510
, Mexico
e-mail: lfridman@unam.mx
Joaquin Collado
Professor
e-mail: jcollado@ctrl.cinvestav.mx
Department of Automatic Control CINVESTAV
,Av. IPN 2508
,Mexico City 07360
, Mexico
e-mail: jcollado@ctrl.cinvestav.mx
Ismael Castillo
Department of Control Engineering and Robotics,
e-mail: casism@gmail.com
Universidad Nacional Autónoma de México
,Mexico City 04510
, Mexico
e-mail: casism@gmail.com
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received October 10, 2014; final manuscript received March 24, 2015; published online April 24, 2015. Assoc. Editor: Hashem Ashrafiuon.
J. Dyn. Sys., Meas., Control. Aug 2015, 137(8): 081010 (7 pages)
Published Online: August 1, 2015
Article history
Received:
October 10, 2014
Revision Received:
March 24, 2015
Online:
April 24, 2015
Citation
Vázquez, C., Fridman, L., Collado, J., and Castillo, I. (August 1, 2015). "Second-Order Sliding Mode Control of a Perturbed-Crane." ASME. J. Dyn. Sys., Meas., Control. August 2015; 137(8): 081010. https://doi.org/10.1115/1.4030253
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