Tianlei Wang and Ziyang Chen and Jinzhao Xu and Kenneth Teo Tze Kin and Zhaoming Zheng and Jingling Zhang and Hongmin Wang (2021) A new terminal sliding mode control for bridge cranes.
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Abstract
In different transportation tasks of bridge cranes, the mass of the load and the cable length are different. To solve this problem, this paper designs a model-free adaptive non-singular terminal sliding mode controller. Specifically, the bridge crane model is changed first, and then a suitable non-singular terminal sliding surface is selected. The adaptive rate is introduced in the design of the controller, so that the driving force is continuous and does not require information of system parameters. The Lyapunov theorem proves that the system is stable. Finally, simulation experiments verify the effectiveness of the algorithm proposed in this paper.
| Item Type: | Proceedings |
|---|---|
| Keyword: | bridge cranes; sliding mode control; model-free; Lyapunov theorem; underactuated system |
| Subjects: | T Technology > TJ Mechanical engineering and machinery > TJ1-1570 Mechanical engineering and machinery > TJ212-225 Control engineering systems. Automatic machinery (General) T Technology > TS Manufactures > TS1-2301 Manufactures > TS155-194 Production management. Operations management |
| Department: | FACULTY > Faculty of Engineering |
| Depositing User: | ABDULLAH BIN SABUDIN - |
| Date Deposited: | 08 Nov 2024 11:56 |
| Last Modified: | 08 Nov 2024 11:56 |
| URI: | https://eprints.ums.edu.my/id/eprint/41810 |
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