To solve the problem of controller design difficulty caused by mismatch between overhead crane system and its mathematical model under uncertainty,an enhanced coupling model-free adaptive sliding mode tracking control strategy based on target trajectory is proposed.In particular,the PD controller is used to replace the equivalent part of a traditional sliding mode controller,so that the controller design does not rely on the prior information such as accurate mathematical model.The novel adaptive exponential reaching law is designed to solve the problems of the slow convergence and chattering induced by traditional sliding mode control.The generalized signal is designed to enhance the coupling relationship between the trolley motion and the payload swing,so as to improve the system transient control performance.Finally,the asymptotic stability of the closed-loop system is strictly demonstrated using Lyapunov theory and the Schur complement lemma.Simulation results also demonstrate that the designed controller has superior performance and robustness to uncertain factors.
overhead craneenhanced couplingmodel-free sliding mode controladaptive exponential reaching law
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