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01-Applied Mathematics & Information Sciences
An International Journal


Volumes > Volume 07 > No. 4


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

PP: 1359-1364
Dianwei Qian, Shiwen Tong, Jianqiang Yi,
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 Barbalatís lemma and Lasalleís 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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