Abstract
The methodology of hierarchical sliding mode control (HSMC) covers several design methods. At first, this chapter introduces these basic HSMC methods, i.e., aggregated SMC, incremental SMC, and combining SMC. Then, adaptive control based on hierarchical sliding surfaces is taken into considerations. Fort purpose of illustration, an overhead crane is adopted as benchmark and each control method is carried out by the transport control problem of the crane. In addition, the HSMC design is also extended for double-pendulum-type overhead cranes. This chapter proceeds with source codes of all the simulations.
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Appendices
Appendices
4.1.1 A Simulink Model to Plot Figs. 4.2, 4.3 and 4.4
4.1.2 B Simulink Model to Plot Figs. 4.6, 4.7, 4.8 and 4.9
4.1.3 C Simulink Model to Plot Figs. 4.11, 4.12, 4.13, 4.14 and 4.15
4.1.4 D Simulink Model to Plot Figs. 4.16, 4.17, 4.18 and 4.19
4.1.5 E Simulink Model to Plot Figs. 4.21 and 4.22
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Qian, D., Yi, J. (2016). Overhead Crane Control by Hierarchical Sliding Mode. In: Hierarchical Sliding Mode Control for Under-actuated Cranes. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-662-48417-3_4
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DOI: https://doi.org/10.1007/978-3-662-48417-3_4
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