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Adaptive Control Based on Incremental Hierarchical Sliding Mode for Overhead Crane Systems |
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PP: 1359-1364 |
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Author(s) |
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Dianwei Qian,
Shiwen Tong,
Jianqiang Yi,
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Abstract |
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| 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. |
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