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Adaptive sliding mode control of overhead cranes with varying cable length

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Abstract

An overhead crane transports cargoes of various weights and volumes depending on the operation case. Friction factors characterized by damped coefficients are changeable in terms of the operating environment. In this study, an adaptive version of the sliding mode control of a crane system is developed in the case of no priori knowledge of the payload mass and damped elements. Using two inputs, namely, trolley driving force and cargo lifting force, the proposed adaptive robust controller simultaneously executes four duties, including tracking the trolley, hoisting the cargo, keeping the cargo swing small during transient state, and completely eliminating the payload angle at steady destination. Numerical simulations and experiments are conducted to investigate the quality of the proposed controller. The results show that the proposed controller works well and all system responses are asymptotically stabilized.

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Author information

Authors and Affiliations

  1. Duy Tan University, Da Nang city, Vietnam

    Le Anh Tuan

  2. Department of Mechanical Engineering, Kyung Hee University, Yongin-si, Gyeonggi-do, 449-701, Korea

    Sang-Chan Moon, Won Gu Lee & Soon-Geul Lee

Authors
  1. Le Anh Tuan
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  2. Sang-Chan Moon
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  3. Won Gu Lee
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  4. Soon-Geul Lee
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Corresponding author

Correspondence to Soon-Geul Lee.

Additional information

Recommended by Associate Editor Yang Shi

Le Anh Tuan graduated both B. Eng. and M. Eng. in Mechanical Engineering and Marine Machinery from Vietnam Maritime University in 2003 and 2007, respectively. He received the Ph.D. degree in Mechanical Engineering from Kyung Hee University, South Korea in 2012. Currently, he is an assistant professor in Mechanical Engineering of Vietnam Maritime University. Dr. Tuan is also a faculty of Duy Tan University, Da Nang, Vietnam. His interested research composes of applied nonlinear control, dynamics and control of industrial machines.

Sang-Chan Moon received the B.C. and M.S degrees in Department of Mechanical Engineering from Kyung Hee University. He is currently pursuing a Ph.D. degree at the Department of Mechanical Engineering, Kyung Hee University. His research interests are in the area of developing a precision positioning system for intelligent vehicle with GPS/INS.

Won Gu Lee received the B.S. and M.S. degrees in Department of Control & Mechanical Engineering from Pusan National University, and the Ph.D. degree in School of Mechanical & Aerospace Engineering from Seoul National University. He got trained from the Harvard-MIT Health Sciences and Technology (HST) and Wyss Institute at Harvard University, U.S.A. as postdoctoral researcher. He is currently an Assistant Professor at the Department of Mechanical Engineering, Kyung Hee University. He is also an Adjunct Professor of Xi’an Jiaotong University, China. His research interests are in the area of developing a neural mechatronic system in association with human-on-a-chip in optofluidics.

Soon-Geul Lee received his B.E. degree in Mechanical Engineering from Seoul National University, Seoul, Korea; his M.S. degree in Production Engineering from KAIST, Seoul, Korea; and his Ph.D degree in Mechanical Engineering from the University of Michigan in 1983, 1985 and 1993 respectively. Since 1996, he has been with the Department of Mechanical Engineering of Kyung Hee University, Yongin, Korea, where he is currently a Professor. His research interests include robotics and automation, mechatronics, intelligent control, and biomechanics. He likewise served as the Director of the Korean Society of Precision Engineering (KSPE) (2005–2007) and for the Institute of Control, Automation, and Systems Engineers (ICASE) (2006).

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Tuan, L.A., Moon, SC., Lee, W.G. et al. Adaptive sliding mode control of overhead cranes with varying cable length. J Mech Sci Technol 27, 885–893 (2013). https://doi.org/10.1007/s12206-013-0204-x

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  • DOI: https://doi.org/10.1007/s12206-013-0204-x

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