Experimental Verification of Optimal Sliding Mode Controllers for Hoisting Cranes

Abstract

AbstractIn this paper we propose a robust sliding mode control strategy for the position control of a hoisting crane. The strategy employs a time-varying switching line which moves with a constant jerk and a constant angle of inclination to the origin of the error state space. The line is selected optimally in the sense of IAE criterion, considering constraint of the payload acceleration. Appropriate design of the switching line results in non-oscillatory convergence of the regulation error in the closed-loop system and the acceleration constraint satisfied during the whole regulation process. Theoretical considerations are verified by experimental tests conducted on a laboratory scale hoisting crane. Moreover, the tests are compared with the similar experiments performed for two other methods of the switching line design.