A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters
This paper aims to explain the design of a novel time-varying sliding mode control of variable parameter (VP-TVSMC), which can effectively solve the anti-swing and positioning problem of distributed-mass double pendulum bridge crane system with its quick responsiveness and strong robustness to exter...
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2021
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oai:doaj.org-article:b4d5dccf480b41b692c97bb144d9aff32021-11-19T00:05:31ZA Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters2169-353610.1109/ACCESS.2021.3079303https://doaj.org/article/b4d5dccf480b41b692c97bb144d9aff32021-01-01T00:00:00Zhttps://ieeexplore.ieee.org/document/9427484/https://doaj.org/toc/2169-3536This paper aims to explain the design of a novel time-varying sliding mode control of variable parameter (VP-TVSMC), which can effectively solve the anti-swing and positioning problem of distributed-mass double pendulum bridge crane system with its quick responsiveness and strong robustness to external interference. More specifically, this model initiates with the establishment of the dynamic equation of double pendulum crane model based on distributed-mass, then followed by the design of a time-varying parameter to realize the dynamic adjustment of the sliding mode surface and enhance the adjustment ability of the sliding mode surface, which is conducive to the global robustness of the double pendulum crane system under VP-TVSMC. With Lyapunov method and LaSalle’s invariance principle, the asymptotic stability of the system can be sufficiently proved. Finally, the adoption of three kinds of external interference signals and uncertain system parameters successfully verified the preeminent control performance and global robustness against external interference of the proposed controller. The simulation results indicate that compared with the conventional CSMC and PDSMC, the proposed control method can reduce the driving force of the trolley, ensure the rapid and precise positioning of the trolley, as well as restrain the load swing angle within 5° in an effective manner. In addition, compared with the symbolic function sgn(<inline-formula> <tex-math notation="LaTeX">$S$ </tex-math></inline-formula>), the designed continuous function th(<inline-formula> <tex-math notation="LaTeX">$S$ </tex-math></inline-formula>) possesses a better anti-chattering effect, thus strengthening of the control performance of VP-TVSMC.Tianlei WangNanlin TanXianwen ZhangGuozheng LiShuqiang SuJing ZhouJiongzhi QiuZhiqin WuYikui ZhaiRuggero Donida LabatiVincenzo PiuriFabio ScottiIEEEarticleBridge cranedistributed-masstime-varying sliding mode controlLaSalle’s invariance principlevariable parameterglobal robustnessElectrical engineering. Electronics. Nuclear engineeringTK1-9971ENIEEE Access, Vol 9, Pp 75981-75992 (2021) |
| institution |
DOAJ |
| collection |
DOAJ |
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EN |
| topic |
Bridge crane distributed-mass time-varying sliding mode control LaSalle’s invariance principle variable parameter global robustness Electrical engineering. Electronics. Nuclear engineering TK1-9971 |
| spellingShingle |
Bridge crane distributed-mass time-varying sliding mode control LaSalle’s invariance principle variable parameter global robustness Electrical engineering. Electronics. Nuclear engineering TK1-9971 Tianlei Wang Nanlin Tan Xianwen Zhang Guozheng Li Shuqiang Su Jing Zhou Jiongzhi Qiu Zhiqin Wu Yikui Zhai Ruggero Donida Labati Vincenzo Piuri Fabio Scotti A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters |
| description |
This paper aims to explain the design of a novel time-varying sliding mode control of variable parameter (VP-TVSMC), which can effectively solve the anti-swing and positioning problem of distributed-mass double pendulum bridge crane system with its quick responsiveness and strong robustness to external interference. More specifically, this model initiates with the establishment of the dynamic equation of double pendulum crane model based on distributed-mass, then followed by the design of a time-varying parameter to realize the dynamic adjustment of the sliding mode surface and enhance the adjustment ability of the sliding mode surface, which is conducive to the global robustness of the double pendulum crane system under VP-TVSMC. With Lyapunov method and LaSalle’s invariance principle, the asymptotic stability of the system can be sufficiently proved. Finally, the adoption of three kinds of external interference signals and uncertain system parameters successfully verified the preeminent control performance and global robustness against external interference of the proposed controller. The simulation results indicate that compared with the conventional CSMC and PDSMC, the proposed control method can reduce the driving force of the trolley, ensure the rapid and precise positioning of the trolley, as well as restrain the load swing angle within 5° in an effective manner. In addition, compared with the symbolic function sgn(<inline-formula> <tex-math notation="LaTeX">$S$ </tex-math></inline-formula>), the designed continuous function th(<inline-formula> <tex-math notation="LaTeX">$S$ </tex-math></inline-formula>) possesses a better anti-chattering effect, thus strengthening of the control performance of VP-TVSMC. |
| format |
article |
| author |
Tianlei Wang Nanlin Tan Xianwen Zhang Guozheng Li Shuqiang Su Jing Zhou Jiongzhi Qiu Zhiqin Wu Yikui Zhai Ruggero Donida Labati Vincenzo Piuri Fabio Scotti |
| author_facet |
Tianlei Wang Nanlin Tan Xianwen Zhang Guozheng Li Shuqiang Su Jing Zhou Jiongzhi Qiu Zhiqin Wu Yikui Zhai Ruggero Donida Labati Vincenzo Piuri Fabio Scotti |
| author_sort |
Tianlei Wang |
| title |
A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters |
| title_short |
A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters |
| title_full |
A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters |
| title_fullStr |
A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters |
| title_full_unstemmed |
A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane With Variable Parameters |
| title_sort |
time-varying sliding mode control method for distributed-mass double pendulum bridge crane with variable parameters |
| publisher |
IEEE |
| publishDate |
2021 |
| url |
https://doaj.org/article/b4d5dccf480b41b692c97bb144d9aff3 |
| work_keys_str_mv |
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