For practical mechanical systems, uncertainties/disturbances, such as unmodeled dynamics and frictions, are nonignorable factors. For existing control methods, these factors are usually neglected or addressed by a robust way. As a consequence, the nominal control performance of these methods is sacrificed. Moreover, there exists the chattering problem for some existing robust methods, such as sliding mode control laws. To deal with these drawbacks, a continuous global sliding mode controller along with a nonlinear disturbance observer is designed for the regulation and disturbance estimation control of the overhead crane system. Specifically, the original crane dynamic model is transformed into a quasi-integrator-chain form through some transformations. Then, a nonlinear disturbance observer is designed and a continuous global sliding mode control method is introduced on the basis of the constructed disturbance observer. The stability and convergence characteristics are proven through rigorous theoretical analysis. Finally, to demonstrate the performance of the designed controller, a series of experimental tests are performed, and a comparison study between the devised method here and an existing method is given. Note to Practitioners —This article is motivated by the desire to deal with the regulation and disturbance rejection of the overhead crane system. In practical applications, uncertainties/disturbances are unavoidable problems for overhead cranes. For most existing methods, these issues are usually addressed in a robust way. To handle these existing problems, a nonlinear disturbance observer and a continuous global sliding mode controller are proposed for the regulation and disturbance estimation control of the overhead crane system. The disturbance observer is introduced to estimate and compensate for uncertain disturbances, and the sliding mode controller is designed to guarantee the convergence of the state variables of the closed-loop system. In the future, we will try to apply this method to practical overhead cranes.

中文翻译：

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基于扰动补偿的具有扰动的桥式起重机连续滑模控制

对于实际的机械系统，不确定性/干扰（例如未建模的动力学和摩擦）是不可忽略的因素。对于现有的控制方法，通常通过鲁棒的方式来忽略或解决这些因素。结果，牺牲了这些方法的标称控制性能。此外，对于一些现有的鲁棒方法，例如滑模控制定律，还存在抖动问题。为了解决这些缺点，设计了一种连续的全局滑模控制器以及一个非线性扰动观测器，用于高架起重机系统的调节和扰动估计控制。具体而言，通过一些转换将原始起重机动态模型转换为准集成链形式。然后，设计了非线性扰动观测器，并在构造的扰动观测器的基础上引入了连续全局滑模控制方法。通过严格的理论分析证明了稳定性和收敛性。最后，为了证明所设计控制器的性能，进行了一系列实验测试，并给出了本文设计方法与现有方法的比较研究。执业者注意 -本文的动机是希望应对桥式起重机系统的调节和干扰抑制。在实际应用中，不确定性/干扰是桥式起重机不可避免的问题。对于大多数现有方法，通常以可靠的方式解决这些问题。为了解决这些现有问题，提出了一种非线性扰动观测器和连续全局滑模控制器，用于高架起重机系统的调节和扰动估计控制。引入了扰动观测器以估计和补偿不确定的扰动，并设计了滑模控制器以确保闭环系统状态变量的收敛。将来，我们将尝试将此方法应用于实际的桥式起重机。