Sliding-mode control of gantry crane system with recursive least square parameters identification

Abstract

In this paper, a set of PDE-ODE (partial-differential-equation and ordinary-differential-equation) are derived to describe the dynamic characteristics of overhead gantry crane system. The control objective in this paper is to move the payload suspended by the cable below the trolley to the desired position through the motion of trolley with a vibration suppression. A sliding-mode variable structure controller (SMC) under dead zone disturbance is derived and the stability of the closed-loop system is proved. At the same time, the key parameters in the model can be identified online by recursive least square (RLS) algorithm for covering the cases of varying parameters such as the mass of payload. Finally, a numerical simulation is given to verify the effectiveness of the proposed controller combined with the parameter identification in this paper.