Abstract
The bridge crane system is a typical under-actuated system that is widely used in production and life. Although various scholars have conducted extensive research on the bridge crane system in recent years, there are still many problems, such as the trajectory planning of the cart and the anti-sway control of the cargo. In order to tackle the problem of the anti-sway control of the cargo, a hierarchical global fast terminal sliding-mode control (H-GFTSMC) is developed in this work. First, the Lagrange equations are used to model the system dynamics. Then, an appropriate hierarchical global fast terminal sliding-mode controller is designed to achieve anti-sway control of the cargo, and it is proved that each sliding-mode surface is progressively stable. A series of simulations were implemented to verify the effectiveness of the control method. The simulation results show that the H-GFTSMC has better control performance compared with the proportional–integral–derivative control method. When changing the cable length or adding non-negligible noise to the system, the H-GFTSMC still has good robustness.
Highlights
The bridge crane system is widely used as an important loading equipment in various industries, such as port transportation and equipment manufacturing [1, 2]
Noticing that a bridge crane system is featured to be under-actuated, a hierarchical global fast terminal sliding-mode control (H-GFTSMC) approach [32] is employed in this work to address the relevant control problems
This paper proposes an H-GFTSMC to handle the problem of large cargo swing during the operation of the bridge crane system
Summary
The bridge crane system is widely used as an important loading equipment in various industries, such as port transportation and equipment manufacturing [1, 2]. Cuoghi and Ntogramatzidis [17] have proposed a new formula for the design of the PID controller for better steady-state performance and robustness. Noticing that a bridge crane system is featured to be under-actuated, a hierarchical global fast terminal sliding-mode control (H-GFTSMC) approach [32] is employed in this work to address the relevant control problems. The proposed method is able to control a bridge crane system for a wide range of cable length and additive disturbances. It results in better robustness compared with some existing methods, which facilitate its practical applications.
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