Time-varying sliding mode controller design with Super-twisting algorithm for Synchronous control of Double-Containers for Overhead Cranes

Abstract

In this study, a simple double-container position synchronization control algorithm based on a time-varying sliding mode surface (TVSMS) and adaptive super-twisting algorithm (ASTA) is developed for overhead crane system. The double-container overhead crane suffers from the perturbation of system parameters and external disturbances. Firstly, the potential load model of the double-container overhead crane in the interlocking mode is established. Then, a novel time-varying sliding surface is designed using cross-coupling error in order to ensure double-container position synchronization of overhead crane system. The design objective of the proposed controller is to ensure the synchronous movement of double-container while reaching the desired location. The time-varying sliding mode eliminates the reaching phase and ensures the global robustness of the overhead crane system. Furthermore, the adaptive super-twisting algorithm is used to weaken chattering and improve the performance of the controller. At the same time, the extended state observer (ESO) is used to estimate the mismatched disturbance of the overhead crane system. The Lyapunov stability theory is used to prove the stability of the controlled system. The simulation experiments illustrate the effectiveness of the designed algorithms.