Model Reference Adaptive Sliding Mode Control for Overhead Cranes Based on Moving Hierarchical Sliding Mode Surface
The mathematical model of the overhead crane system is a nonlinear,time-varying,under-actuated system model with its actuators less than the number of degrees of freedom.The parameter information of the overhead crane system model cannot be accurately obtained.To solve the above problems,a model reference adaptive sliding mode control strategy based on the moving hierarchical sliding mode surface is proposed.Firstly,for the reference model of the overhead crane system,a moving hierarchical sliding mode surface is designed to improve the transient performance of the reference model.Then,an adaptive sliding mode control method with parameter estimation is proposed for the overhead crane system with uncertainty to ensure that the trolley reaches the desired position and the swing angle of the load is eliminated when the model parameter information cannot be obtained accurately.Finally,the stability of the closed-loop system is proved by using Lyapunov stability theory.The simulation results show that the proposed method is effective and robust.
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