TY - JOUR
T1 - Robust Positioning Control Law for a 3D Underactuated Crane System
AU - Verdés Kairuz, Ramón I.
AU - Aguilar, Luis T.
AU - de Loza, Alejandra Ferreira
AU - Andrade García, Juan E.
N1 - Publisher Copyright:
© 2018
PY - 2018/1/1
Y1 - 2018/1/1
N2 - An existent risk in automated gantry cranes is that the payload, attached to the end of the suspension cable, can swing randomly due to the acceleration of the trolley, by the perturbation of external disturbances, among other unpredictable factors. In this paper, we design second order sliding mode payload position controllers via collocated partial feedback linearization to address such problem. In particular, a super-twisting controller was synthesized to drive the position of the trolley to the desired point, and a twisting controller was derived to stabilize the height of the cable. The proposed sliding surface makes the zero dynamics locally asymptotically stable. We tested the results on an experimental gantry crane system which is affected by matched and mismatched disturbances.
AB - An existent risk in automated gantry cranes is that the payload, attached to the end of the suspension cable, can swing randomly due to the acceleration of the trolley, by the perturbation of external disturbances, among other unpredictable factors. In this paper, we design second order sliding mode payload position controllers via collocated partial feedback linearization to address such problem. In particular, a super-twisting controller was synthesized to drive the position of the trolley to the desired point, and a twisting controller was derived to stabilize the height of the cable. The proposed sliding surface makes the zero dynamics locally asymptotically stable. We tested the results on an experimental gantry crane system which is affected by matched and mismatched disturbances.
KW - Crane
KW - external perturbations
KW - partial feedback linearization
KW - position regulation
KW - sliding mode control
UR - http://www.scopus.com/inward/record.url?scp=85052644781&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2018.07.319
DO - 10.1016/j.ifacol.2018.07.319
M3 - Artículo
SN - 2405-8963
VL - 51
SP - 450
EP - 455
JO - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
JF - 2nd IFAC Conference on Modelling, Identification and Control of Nonlinear Systems MICNON 2018: Guadalajara, Jalisco, Mexico, 20-22 June 2018
IS - 13
ER -