Adaptive Control Based on Incremental Hierarchical Sliding Mode for Overhead Crane Systems

被引：11
|
作者：
Qian, Dianwei [1 ]
Tong, Shiwen [2 ]
Yi, Jianqiang [3 ]
机构：
[1] North China Elect Power Univ, Sch Control & Comp Engn, Beijing 102206, Peoples R China
[2] Beijing Union Univ, Coll Automat, Beijing 100101, Peoples R China
[3] Chinese Acad Sci, Inst Automat, Beijing 100190, Peoples R China
来源：
APPLIED MATHEMATICS & INFORMATION SCIENCES | 2013年 / 7卷 / 04期
关键词：
adaptive control; sliding mode control; hierarchical structure; overhead cranes; DESIGN;
D O I：
10.12785/amis/070413
中图分类号：
O29 [应用数学];
学科分类号：
070104 ;
摘要：
Incremental hierarchical sliding mode control (IHSMC) methodology involves 2n-2 sign switches of controller parameters for an underactuated system with n subsystems. Too many sign switches trouble parameter tuning. This paper presents an adaptive control design approach based on IHSMC methodology for overhead crane systems with 2 subsystems with only 1 sign switch. The system stability is proven by Barbalat's lemma and Lasalle's invariance principle in the sense of Lyapunov theory. Simulation results illustrate the feasibility of the presented method by transport control of overhead crane systems.
引用
收藏
页码：1359 / 1364
页数：6
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