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A novel sliding mode control method for underactuated overhead cranes

机译：欠驱动桥式起重机的新型滑模控制方法

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For underactuated overhead cranes, this paper designs a novel sliding mode control method. Specifically, similar to the idea of backstepping method, the overall dynamic system is divided into two cascaded subsystems; thus the control algorithm consists of two steps. At first, the payload swing angle is kept in a bounded area by tracking a target trajectory. Second, the positioning error is indirectly driven to zero via the ingenious design of the trajectory. In this way, a novel sliding mode controller is designed by constructing a novel sliding surface. Lyapunov techniques are utilized to prove the asymptotically stability of the closed-loop system. Furthermore, hardware experiments are supplied to demonstrate superior performance of the proposed controller.
机译：对于欠驱动的桥式起重机，本文设计了一种新颖的滑模控制方法。具体而言，类似于后推方法的思想，整个动态系统分为两个级联子系统;第二个子系统是两个子系统。因此，控制算法包括两个步骤。首先，通过跟踪目标轨迹将有效载荷摆角保持在有界区域中。其次，通过轨迹的巧妙设计将定位误差间接驱动为零。这样，通过构造新颖的滑动表面来设计新颖的滑动模式控制器。利用李雅普诺夫技术证明了闭环系统的渐近稳定性。此外，提供了硬件实验来证明所提出控制器的卓越性能。

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