Adaptive Control Based on Incremental Hierarchical Sliding Mode for Overhead Crane Systems

Authors

Dianwei Qian, School of Control and Computer Engineering, North China Electric Power University, Beijing, 102206, P.R. ChinaFollow
Shiwen Tong
Jianqiang Yi

Author Country (or Countries)

P.R. China

Abstract

Incremental hierarchical sliding mode control (IHSMC) methodology involves 2n−2 sign switches of controller parameters for an underactuated system with n subsystems. Too many sign switches trouble parameter tuning. This paper presents an adaptive control design approach based on IHSMC methodology for overhead crane systems with 2 subsystems with only 1 sign switch. The system stability is proven by Barbalat’s lemma and Lasalle’s invariance principle in the sense of Lyapunov theory. Simulation results illustrate the feasibility of the presented method by transport control of overhead crane systems.

Suggested Reviewers

N/A

Recommended Citation

Qian, Dianwei; Tong, Shiwen; and Yi, Jianqiang (2013) "Adaptive Control Based on Incremental Hierarchical Sliding Mode for Overhead Crane Systems," Applied Mathematics & Information Sciences: Vol. 07: Iss. 4, Article 13.
Available at: https://digitalcommons.aaru.edu.jo/amis/vol07/iss4/13