Abstract
This paper analyzes the dynamics of overhead cranes suffering from uncertain disturbances, and then proposes a novel adaptive dynamic integral sliding mode control law for the underactuated overhead cranes with uncertainties. This method solve the problem of the tradeoff between the steady-state error and the chattering effect by employing the dynamic sliding mode technique, moreover, the self-tuning laws for the switching controller are developed to eliminate unknown disturbances exerted on the overhead crane systems. None of the prior information about the upper bound of uncertainties is needed in the sliding mode controller design. The global stability of the proposed controller is proven. Simulation study shows the good performance of the suggested method.
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