Model reference adaptive sliding mode control for three dimensional overhead cranes

Tuấn, Lê Anh; Lee, Soon-Geul; Nho, Luong Cong; Kim, Donghan

doi:10.1007/s12541-013-0180-1

Cited by 52 publications

(17 citation statements)

References 39 publications

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“…In a control strategy with a dynamic system (1), (5)(6)(7)(8)(9), an input command signal (voltage) is sent to the servo valve to control the spool movement. Spool displacement determines the level of hydraulic pressure inside a brake chamber and controls the movement of a pneumatic piston.…”

Section: Introductionmentioning

confidence: 99%

“…A single controller developed based on mathematical dynamics also has limited applications. Moreover, the switch part of the dynamic model [30], [31], which is derived from the unbalanced properties of the servo valve circuit (8), (9), is included in the system. Based on the approaches described in [32], [33], this system can be described as a slow switching system.…”

Section: Introductionmentioning

confidence: 99%

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Robust Finite-Time Convergence Control Mechanism for High-Precision Tracking in a Hybrid Fluid Power Actuator

et al. 2020

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In this study, a novel multiphase converged control structure with a switching mechanism is established based on the fundamentals of the fast-terminal sliding mode. This control structure achieves an excellent performance in a nonlinear dynamic system, and its primary objective is to control the piston trajectory in an innovative electrohydraulic, pneumatic, and mechanical hybrid system. This work focuses on abrupt gain-scheduled acceleration, which has been rarely studied in the literature but has increasingly diverse high-technology applications across various industries. The greatest challenge lies in the sensitivity and instability of the system during a sudden actuator acceleration. Moreover, the system parameter uncertainties and external disturbances strongly influence the degree of control of the system. By inheriting the robustness and fast convergence properties of sliding-mode algorithms, the proposed control law not only guarantees a finite-time convergence of tracking errors to their origin but also reduces the impact of composite disturbances in an extremely rapid experimental process. The effectiveness of the proposed structure is analyzed via numerical simulations and industrial implementation.

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Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Robust Finite-Time Convergence Control Mechanism for High-Precision Tracking in a Hybrid Fluid Power Actuator

et al. 2020

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“…Most of these control methods do not consider the uncertainty of the system, and the robustness is relatively poor. Sliding mode control [19,20] can effectively deal with the influence of system uncertainty, but the convergence analysis of sliding mode surface is needed.…”

Section: Introductionmentioning

confidence: 99%

Takagi‐Sugeno Fuzzy Modeling and PSO‐Based Robust LQR Anti‐Swing Control for Overhead Crane

Shao

Zhang

2019

Mathematical Problems in Engineering

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The dynamic model of overhead crane is highly nonlinear and uncertain. In this paper, Takagi-Sugeno (T-S) fuzzy modeling and PSO-based robust linear quadratic regulator (LQR) are proposed for anti-swing and positioning control of the system. First, on the basis of sector nonlinear theory, the two T-S fuzzy models are established by using the virtual control variables and approximate method. Then, considering the uncertainty of the model, robust LQR controllers with parallel distributed compensation (PDC) structure are designed. The feedback gain matrices are obtained by transforming the stability and robustness of the system into linear matrix inequalities (LMIs) problem. In addition, particle swarm optimization (PSO) algorithm is used to overcome the blindness of LQR weight matrix selection in the design process. The proposed control methods are simple, feasible, and robust. Finally, the numeral simulations are carried out to prove the effectiveness of the methods.

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“…These include high driving force, high holding force without any power supply, high precision, low magnetic noise, vacuum compatibility, rapid response, compact mechanism, and silent operation. [15][16][17][18][19][20][21][22] However, many typical precision motion systems driven by an ultrasonic motor have only been demonstrated for short working distances and simple motions such as a stepwise motion along a single axis.…”

Section: Introductionmentioning

confidence: 99%

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion

Lee

2015

Review of Scientific Instruments

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This paper presents a design and control system for an XY stage driven by an ultrasonic linear motor. In this study, a hybrid bolt-clamped Langevin-type ultrasonic linear motor was manufactured and then operated at the resonance frequency of the third longitudinal and the sixth lateral modes. These two modes were matched through the preload adjustment and precisely tuned by the frequency matching method based on the impedance matching method with consideration of the different moving weights. The XY stage was evaluated in terms of position and circular motion. To achieve both fine and stable motion, the controller consisted of a nominal characteristics trajectory following (NCTF) control for continuous motion, dead zone compensation, and a switching controller based on the different NCTFs for the macro- and micro-dynamics regimes. The experimental results showed that the developed stage enables positioning and continuous motion with nanometer-level accuracy.

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Model reference adaptive sliding mode control for three dimensional overhead cranes

Cited by 52 publications

References 39 publications

Robust Finite-Time Convergence Control Mechanism for High-Precision Tracking in a Hybrid Fluid Power Actuator

Robust Finite-Time Convergence Control Mechanism for High-Precision Tracking in a Hybrid Fluid Power Actuator

Takagi‐Sugeno Fuzzy Modeling and PSO‐Based Robust LQR Anti‐Swing Control for Overhead Crane

Ultraprecision XY stage using a hybrid bolt-clamped Langevin-type ultrasonic linear motor for continuous motion

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