In this study, integral sliding mode control is proposed for tower cranes to ensure precise tracking of the desired position while reducing the oscillations of the payload. The nonlinear robust controller is designed based on high fidelity nonlinear dynamical model, unlike the decoupled or linearized models used in the literature. The advantage of this approach is reducing the model uncertainties resulting in a lower control effort demand that would be required by the sliding mode controller. Moreover, the stability of the under-actuated tower crane system is analyzed using Lyapunov theory to guarantee the practical stability of error dynamics. Experimental results of the proposed control approach are compared with conventional sliding mode control to show its effectiveness and robustness against real system uncertainties.

在这项研究中，为塔式起重机提出了整体滑模控制，以确保精确跟踪所需位置，同时减少有效载荷的振荡。非线性鲁棒控制器是基于高保真非线性动力学模型设计的，这与文献中使用的解耦或线性化模型不同。这种方法的优点是减少了模型不确定性，从而降低了滑模控制器所需的控制工作量。此外，利用李雅普诺夫理论分析了欠驱动塔式起重机系统的稳定性，以确保误差动态的实际稳定性。将所提出的控制方法的实验结果与传统的滑模控制进行了比较，以显示其针对实际系统不确定性的有效性和鲁棒性。