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Second-order sliding mode control of a 3D overhead crane with uncertain system parameters

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Abstract

This paper proposes a second-order sliding mode controller for a three-dimensional overhead crane in an extremely complicated operation with uncertain system parameters. Three actuators composed of trolley-moving, bridge-traveling, and cargo-hoisting forces simultaneously drive fine outputs comprising bridge motion, trolley translation, cable length, and two payload swing angles. Simulation and experiment are performed to investigate the controller qualities. The proposed controller asymptotically stabilizes and consistently maintains system response even when some system parameters are extensively varied.

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Abbreviations

m c :

cargo mass (kg)

m t :

trolley mass (kg)

m b :

lumped mass of bridge (kg)

m l :

equivalent mass of all rotating components of hoist (kg)

x :

trolley displacement (m)

l :

cargo suspended cable length (m)

θ and φ :

cargo swing angles (rad)

u t :

trolley-traveling force (N)

u b :

bridge-moving force (N)

u l :

cargo-lifting force (N)

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Vietnam Maritime University, Hai Phong, Vietnam

    Le Anh Tuan

  2. Graduate School of Mechanical Engineering, Kyung Hee University, 1 Seocheon-dong, Giheung-gu, Yongin-si, Gyeonggi-do, 449-701, South Korea

    Jae-Jun Kim

  3. School of Mechanical Engineering, Kyung Hee University, 1 Seocheon-dong, Giheung-gu, Yongin-si, Gyeonggi-do, 449-701, South Korea

    Soon-Geul Lee

  4. System Solution Research Department, Research Institute of Industrial Science and Technology, Pohang, Gyeongsangbuk-do, 790-330, South Korea

    Tae-Gyoon Lim

  5. Vietnam Maritime University, Hai Phong, Vietnam

    Luong Cong Nho

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  1. Le Anh Tuan
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  2. Jae-Jun Kim
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  3. Soon-Geul Lee
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  4. Tae-Gyoon Lim
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Correspondence to Soon-Geul Lee.

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Tuan, L.A., Kim, JJ., Lee, SG. et al. Second-order sliding mode control of a 3D overhead crane with uncertain system parameters. Int. J. Precis. Eng. Manuf. 15, 811–819 (2014). https://doi.org/10.1007/s12541-014-0404-z

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  • DOI: https://doi.org/10.1007/s12541-014-0404-z

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