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Nonlinear Sliding Mode Tracking Control of Underactuated Tower Cranes
International Journal of Control, Automation and Systems ( IF 3.2 ) Pub Date : 2020-12-06 , DOI: 10.1007/s12555-020-0033-5 Zhuoqing Liu , Ning Sun , Yiming Wu , Xin Xin , Yongchun Fang
International Journal of Control, Automation and Systems ( IF 3.2 ) Pub Date : 2020-12-06 , DOI: 10.1007/s12555-020-0033-5 Zhuoqing Liu , Ning Sun , Yiming Wu , Xin Xin , Yongchun Fang
As representative underactuated systems, tower cranes exhibit high nonlinearity and strong state coupling, which makes their controller design (analysis) challenging and of great research values. In addition, since tower cranes are widely applied in outdoor environment with inevitable external disturbances, (the state variables tend to go far away from the equilibrium point), how to ensure the control performance in this case is particularly important; moreover, most existing control methods can only ensure closed loop stability, but cannot theoretically ensure the system states convergence time. Considering the above factors, this paper proposes a nonlinear sliding mode tracking controller, which can realize satisfactory tracking performance and effective swing suppression. To our knowledge, for tower cranes, this is the first tracking method designed based upon the nonlinear dynamics without any linearization, which can eliminate the tracking errors rapidly in finite time by introducing the elaborately constructed sliding mode surface and simultaneously suppress the swing. Furthermore, through rigorous analysis, the system closed loop stability is proven theoretically. Finally, hardware experiments imply that the proposed controller is effective and exhibits satisfactory robustness.
中文翻译:
欠驱动塔式起重机非线性滑模跟踪控制
塔机作为欠驱动系统的代表,具有高非线性和强状态耦合,使得其控制器设计(分析)具有挑战性,具有重要的研究价值。另外,由于塔机广泛应用于室外环境中不可避免的外部干扰(状态变量往往远离平衡点),在这种情况下如何保证控制性能就显得尤为重要;而且,现有的控制方法大多只能保证闭环稳定性,而不能在理论上保证系统状态的收敛时间。考虑到以上因素,本文提出了一种非线性滑模跟踪控制器,可以实现令人满意的跟踪性能和有效的摆动抑制。据我们所知,对于塔式起重机,这是第一种基于非线性动力学设计的不进行任何线性化的跟踪方法,通过引入精心构造的滑模面,在有限时间内快速消除跟踪误差,同时抑制摆动。此外,通过严格的分析,从理论上证明了系统闭环稳定性。最后,硬件实验表明所提出的控制器是有效的并且表现出令人满意的鲁棒性。
更新日期:2020-12-06
中文翻译:
欠驱动塔式起重机非线性滑模跟踪控制
塔机作为欠驱动系统的代表,具有高非线性和强状态耦合,使得其控制器设计(分析)具有挑战性,具有重要的研究价值。另外,由于塔机广泛应用于室外环境中不可避免的外部干扰(状态变量往往远离平衡点),在这种情况下如何保证控制性能就显得尤为重要;而且,现有的控制方法大多只能保证闭环稳定性,而不能在理论上保证系统状态的收敛时间。考虑到以上因素,本文提出了一种非线性滑模跟踪控制器,可以实现令人满意的跟踪性能和有效的摆动抑制。据我们所知,对于塔式起重机,这是第一种基于非线性动力学设计的不进行任何线性化的跟踪方法,通过引入精心构造的滑模面,在有限时间内快速消除跟踪误差,同时抑制摆动。此外,通过严格的分析,从理论上证明了系统闭环稳定性。最后,硬件实验表明所提出的控制器是有效的并且表现出令人满意的鲁棒性。