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, 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(S), the designed continuous function th(S) possesses a better anti-chattering effect, thus strengthening of the control performance of VP-TVSMC.

A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane with Variable Parameters / T. Wang, N. Tan, X. Zhang, G. Li, S. Su, J. Zhou, J. Qiu, Z. Wu, Y. Zhai, R. Donida Labati, V. Piuri, F. Scotti. - In: IEEE ACCESS. - ISSN 2169-3536. - 9(2021), pp. 75981-75992.

A Time-Varying Sliding Mode Control Method for Distributed-Mass Double Pendulum Bridge Crane with Variable Parameters

R. Donida Labati;V. Piuri;F. Scotti
2021

Abstract

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, 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(S), the designed continuous function th(S) possesses a better anti-chattering effect, thus strengthening of the control performance of VP-TVSMC.
Bridge crane; distributed-mass; time-varying sliding mode control; LaSalle’s invariance principle; asymptotic stability; global robustness
Settore INF/01 - Informatica
Settore ING-INF/05 - Sistemi di Elaborazione delle Informazioni
Article (author)
File in questo prodotto:
File Dimensione Formato  
access21.pdf

accesso aperto

Tipologia: Publisher's version/PDF
Dimensione 1.81 MB
Formato Adobe PDF
1.81 MB Adobe PDF Visualizza/Apri
Pubblicazioni consigliate

Caricamento pubblicazioni consigliate

I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.

Utilizza questo identificativo per citare o creare un link a questo documento: http://hdl.handle.net/2434/848074
Citazioni
  • ???jsp.display-item.citation.pmc??? ND
  • Scopus 7
  • ???jsp.display-item.citation.isi??? 6
social impact