Abstract
The methodology of sliding mode control (SMC) covers a diversity of design methods. This chapter introduces several typical SMC design methods, i.e., first-order SMC, integral SMC, terminal SMC, and second-order SMC. For the purpose of illustration, both single-pendulum-type and double-pendulum-type overhead cranes are adopted as research benchmarks and these SMC methods are carried out by the transport control problem of cranes. To focus on the SMC methods, the nominal models of both types of overhead cranes are considered during control design. Moreover, the uncertain models are also taken to analyze the system stability. In addition, the chapter proceeds with source codes of all the simulations.
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Qian, D., Yi, J. (2016). Overhead Crane Control by Sliding Mode Methods. In: Hierarchical Sliding Mode Control for Under-actuated Cranes. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48417-3_3
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DOI: https://doi.org/10.1007/978-3-662-48417-3_3
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