Abstract
In this article, a prescribed-time sliding mode controller is proposed for the design of the positioning and anti-swing time of the underactuated bridge crane under different initial conditions. Compared with the existing crane positioning and anti-swing controller, the controller can directly specify the positioning and anti-swing time of the bridge crane system through the controller parameters. Firstly, in order to solve the underdrive problem of the bridge crane system, the crane system model is transformed by constructing composite variables; secondly, a new prescribed-time convergence rate and a new prescribed-time sliding mode surface are designed to ensure that the state of the bridge crane system can converge within the prescribed time; finally, the Lyapunov stability analysis and simulation results show that the designed controller can enable the crane to position and anti-swing within the prescribed time.
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