标题：Adaptive Proportional-Derivative Sliding Mode Control Law with Improved Transient Performance for Underactuated Overhead Crane Systems
作者：Zhang Menghua;Ma Xin;Song Rui;Rong Xuewen;Tian Guohui;Tian Xincheng;Li Yibin
作者机构：[Zhang Menghua] School of Control Science and Engineering, Shandong University, Jinan, Shandong 250061, China.;[Ma Xin] School of Control Science and 更多
通讯作者地址：[Ma, X] School of Control Science and Engineering, Shandong UniversityChina;
关键词：Adaptability; adaptive proportional-derivative sliding mode control (APD-SMC); coupling behavior; LaSalle's invariance theorem; Lyapunov techniques; robustness; underactuated overhead crane
摘要：In this paper, an adaptive proportional-derivative sliding mode control U+0028 APD-SMC U+0029 law, is proposed for 2D underactuated overhead crane systems. The proposed controller has the advantages of simple structure, easy to implement of PD control, strong robustness of SMC with respect to external disturbances and uncertain system parameters, and adaptation for unknown system dynamics associated with the feedforward parts. In the proposed APD-SMC law, the PD control part is used to stabilize the controlled system, the SMC part is used to compensate the external disturbances and system uncertainties, and the adaptive control part is utilized to estimate the unknown system parameters. The coupling behavior between the trolley movement and the payload swing is enhanced and, therefore, the transient performance of the proposed controller is improved. The Lyapunov techniques and the LaSalle U+02BC s invariance theorem are employed in to support the theoretical derivations. Experimental results are provided to validate the superior performance of the proposed control law. © 2014 Chinese Association of Automation.