Model-free robust adaptive control of overhead cranes with finite-time convergence based on time-delay control

Abstract

In this paper, a model-free robust adaptive control scheme with finite-time convergence based on time-delay control is proposed for anti-sway and positioning control of two-dimensional underactuated overhead cranes. First, the whole overhead cranes system is simplified to an ultra-local model for time delay estimation (TDE). TDE brings a direct and effective model-free property but also an estimation error. Second, a sliding mode disturbance observer is designed to estimate and compensate for the TDE error. Third, sliding mode control (SMC) is used to enhance the robustness of the controller. An adaptive integral sliding surface is then designed to accelerate the sliding surface convergence rate and shorten the convergence time. To further optimize the selection of parameters, the parameter estimation is integrated to enhance the performance of model-free control. In the final analysis of the simulation, data yield that the introduction of parameter estimation increases the control performance by more than 20% on average, and the above facts verify the effectiveness of the scheme. Finally, the stability of the closed-loop control system is analyzed by using Lyapunov stability theory, and the effectiveness and robustness of the control scheme are verified through computer simulation results.