Load swing suppression in the 3-dimensional overhead crane via second-order sliding-modes

In this paper, an anti-swing control law, previously proposed for the 2-dimensional (2D, or planar) model of an overhead crane [2], is generalized to the 3-dimensional (3-D) case. The multi-input controller is based on the second-order sliding-mode approach. Thanks to specially designed sliding surfaces, explicitly depending on the load swing angles, zero steady position error and active load swing damping during the load transfer are attained by the proposed controller. The effectiveness of the proposed control method is validated by experimental results on a 3-dimensional laboratory crane prototype.

[1]  Q. P. Ha,et al.  Second-order Sliding Mode Control for Oshore Container Cranes , 2012 .

[2]  Cheng-Yuan Chang,et al.  Fuzzy projection control law and its application to the overhead crane , 2008 .

[3]  Vadim I. Utkin,et al.  Sliding Modes in Control and Optimization , 1992, Communications and Control Engineering Series.

[4]  Hongjun Chen,et al.  Dynamical modelling and nonlinear control of a 3D crane , 2005, 2005 International Conference on Control and Automation.

[5]  Gerald Cook.  An application of half-cycle Posicast , 1966 .

[6]  Yoshiyuki Sakawa,et al.  Optimal control of container cranes , 1981, Autom..

[7]  Mehrdad Saif,et al.  Output Feedback Controller Design for a Class of MIMO Nonlinear Systems Using High-Order Sliding-Mode Differentiators With Application to a Laboratory 3-D Crane , 2008, IEEE Transactions on Industrial Electronics.

[8]  Alessandro Giua,et al.  Observer-Controller Design for Three Dimensional Overhead Cranes Using Time-Scaling , 2001 .

[9]  Arto Marttinen,et al.  Optimal path planning for a trolley crane: fast and smooth transfer of load , 1995 .

[10]  Victor M. Becerra,et al.  Application of constrained predictive control on a 3D crane system , 2004, IEEE Conference on Robotics, Automation and Mechatronics, 2004..

[11]  Giorgio Bartolini,et al.  Second-order sliding-mode control of container cranes , 2002, Autom..

[12]  A. Marttinen,et al.  Adaptive Pole Placement Control of a Pilot Crane , 1990 .

[13]  A. Levant.  Sliding order and sliding accuracy in sliding mode control , 1993 .

[14]  Harald Aschemann,et al.  Nonlinear optimal control of an overhead travelling crane , 2009, 2009 IEEE Control Applications, (CCA) & Intelligent Control, (ISIC).

[15]  Leonid M. Fridman,et al.  Performance Analysis of Second-Order Sliding-Mode Control Systems With Fast Actuators , 2007, IEEE Transactions on Automatic Control.

[16]  Keum-Shik Hong,et al.  Two-Stage Control for Container Cranes , 2000 .

[17]  Warren E. Dixon,et al.  Nonlinear coupling control laws for an underactuated overhead crane system , 2003 .

[18]  Alessandro Giua,et al.  An implicit gain-scheduling controller for cranes , 1998, IEEE Trans. Control. Syst. Technol..

[19]  Alessandro Giua,et al.  Observer-controller design for cranes via Lyapunov equivalence , 1999, at - Automatisierungstechnik.

[20]  H. Troger,et al.  Time optimal control of overhead cranes with hoisting of the load , 1987, Autom..

[21]  Giorgio Bartolini,et al.  Output-feedback control of container cranes: a comparative analysis , 2002, Proceedings of the 41st IEEE Conference on Decision and Control, 2002..

[22]  A. Levant.  Robust exact differentiation via sliding mode technique , 1998 .

[23]  Xiaoou Li,et al.  Anti-swing control for overhead crane with neural compensation , 2006, The 2006 IEEE International Joint Conference on Neural Network Proceedings.

[24]  Ho-Hoon Lee,et al.  An anti-swing control of a 3-dimensional overhead crane , 2000, Proceedings of the 2000 American Control Conference. ACC (IEEE Cat. No.00CH36334).