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Fast terminal sliding mode control for gantry cranes

机译：龙门式起重机的快速端子滑动模式控制

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Cranes remain a vital tool for the construction of infrastructure such as buildings, bridges, etc. Recently, there has been renewed interest in crane automation in dealing with concerns on safety and possible performance degradation due to system uncertainties and disturbances. One potential solution to the problem is the use of robust techniques based on the Sliding Mode Control (SMC) methodology. Much research has been conducted to design controllers based on linear sliding surfaces, aiming at achieving the desired control performance in finite time. In this context, this paper proposes a control method, based on the Fast Terminal Sliding Mode (FTSM), to guarantee finite-time stability of the crane. To do that, we have derived a mathematical model of the crane using Lagrangian formulation with uncertainties as bounding functions. Then, sliding surfaces based on the hierarchical sliding mode are defined, and a control law is derived using the Lyapunov stability theory. The hierarchical sliding surfaces consist of two layers. The first layer include sliding functions based on FTSM to enable faster convergence of the system to equilibrium. This can have advantages in high precision tracking applications. In the second-layer, the sliding surface is designed from the linear combination of the first layer sliding functions. Also, we have given a proof of the stability of the system in finite time. Extensive simulation results show the proposed controller based on FTSM can achieve higher performance in stabilizing the swinging load of a gantry crane. Laboratorial experiments have been conducted to verify the obtained results in terms of the superior convergence time and improved performance over conventional SMC.
机译：起重机仍然是建筑物，桥梁等基础设施建造的重要工具，最近，在处理对安全性和可能的​​性能下降的担忧时，对起重机自动化进行了兴趣，因为系统的不确定性和干扰。问题的一个潜在解决方案是基于滑动模式控制（SMC）方法使用鲁棒技术。已经对基于线性滑动表面的设计控制器进行了许多研究，旨在在有限时间内实现所需的控制性能。在本文中，本文提出了一种基于快速终端滑动模式（FTSM）的控制方法，以确保起重机的有限时间稳定性。为此，我们使用Lagrangian配方来源的起重机的数学模型，以不确定性作为边界功能。然后，定义了基于层级滑动模式的滑动表面，并且使用Lyapunov稳定性理论导出控制法。等级滑动表面由两层组成。第一层包括基于FTSM的滑动功能，以实现系统的更快收敛到平衡。这可以具有高精度跟踪应用中的优点。在第二层中，滑动表面由第一层滑动功能的线性组合设计。此外，我们已经在有限时间内给出了系统稳定性的证据。广泛的仿真结果表明，基于FTSM的建议控制器可以在稳定龙门起重机的摆动负荷方面实现更高的性能。已经进行了实验室实验，以验证所获得的结果，以卓越的收敛时间和改善常规SMC的性能。

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