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2015 | Buch

Introduction Kapitel lesen Erstes Kapitel lesen

Hierarchical Sliding Mode Control for Under-actuated Cranes

Design, Analysis and Simulation

verfasst von: Dianwei Qian, Jianqiang Yi

Verlag: Springer Berlin Heidelberg

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

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Über dieses Buch

This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which were previously scattered across various journals and conference proceedings, are now presented in a systematic and unified form. The book will be of interest to researchers, engineers and graduate students in control engineering and mechanical engineering who want to learn the methods and applications of SMC.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Introduction
Abstract
This chapter provides necessary background information. Since cranes are the primary controlled machine in the book, an introduction to the types of cranes is discussed. Then, a brief historical overview of sliding mode control is considered. To review its history and the state-of-the-art research, a detailed overview of overhead crane control is presented. The chapter proceeds with some insights into bottleneck issues of control and future research directions.
Dianwei Qian, Jianqiang Yi
Chapter 2. Crane Mathematic Model
Abstract
This chapter examines the dynamics of overhead cranes. Concerning single-pendulum-type overhead cranes, their equations of motion are first presented by means of its Euler–Lagrange equations. Subsequently, the equations of motion are extended to double-pendulum-type overhead cranes. The two models are presented as references for examples throughout this book. Since the two models are established under some ideal assumptions, some uncertainties associated with real applications are discussed next. In addition, the chapter proceeds with the analysis of oscillations for pendulum-type motions on the basis of linearized models of the two types of overhead cranes. The analysis distills the essential properties of each.
Dianwei Qian, Jianqiang Yi
Chapter 3. Overhead Crane Control by Sliding Mode Methods
Abstract
The methodology of sliding mode control (SMC) covers a diversity of design methods. This chapter introduces several typical SMC design methods, i.e., first-order SMC, integral SMC, terminal SMC, and second-order SMC. For the purpose of illustration, both single-pendulum-type and double-pendulum-type overhead cranes are adopted as research benchmarks and these SMC methods are carried out by the transport control problem of cranes. To focus on the SMC methods, the nominal models of both types of overhead cranes are considered during control design. Moreover, the uncertain models are also taken to analyze the system stability. In addition, the chapter proceeds with source codes of all the simulations.
Dianwei Qian, Jianqiang Yi
Chapter 4. Overhead Crane Control by Hierarchical Sliding Mode
Abstract
The methodology of hierarchical sliding mode control (HSMC) covers several design methods. At first, this chapter introduces these basic HSMC methods, i.e., aggregated SMC, incremental SMC, and combining SMC. Then, adaptive control based on hierarchical sliding surfaces is taken into considerations. Fort purpose of illustration, an overhead crane is adopted as benchmark and each control method is carried out by the transport control problem of the crane. In addition, the HSMC design is also extended for double-pendulum-type overhead cranes. This chapter proceeds with source codes of all the simulations.
Dianwei Qian, Jianqiang Yi
Chapter 5. Compensator Design Based on Sliding Mode for Uncertain Overhead Cranes
Abstract
Crane systems have uncertainties. The uncertainties cover both matched and unmatched ones. The methodology of sliding mode control (SMC) can suppress matched uncertainties in light of the invariance of sliding mode. Concerning the crane control problem, unmatched uncertainties become challenging. This chapter focuses on compensator design based on sliding mode for uncertain overhead cranes. Three design methods are taken into account, i.e., compensator design based on hierarchical sliding surfaces, compensator design based on fuzzy logic, and compensator design based on neural networks (NNs). For the purpose of illustration, an overhead crane is adopted as benchmark, and each control method is carried out by the transport control problem of the crane. In addition, the chapter proceeds with source codes of all the simulations.
Dianwei Qian, Jianqiang Yi
Chapter 6. Conclusions and Open Problems
Abstract
This chapter presents preliminary results on the development and application of hierarchical sliding mode control (SMC) methods to the transport control design of overhead crane systems and draws some concluding remarks, and summarizes open problems for future research.
Dianwei Qian, Jianqiang Yi
Metadaten
Titel
Hierarchical Sliding Mode Control for Under-actuated Cranes
verfasst von
Dianwei Qian
Jianqiang Yi
Copyright-Jahr
2015
Verlag
Springer Berlin Heidelberg
Electronic ISBN
978-3-662-48417-3
Print ISBN
978-3-662-48415-9
DOI
https://doi.org/10.1007/978-3-662-48417-3

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