In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based on the Lyapunov stability theorem, where a sliding surface, coupling the trolley motion with load swing, is adopted for a direct damping control of load swing. The proposed control guarantees asymptotic stability while keeping all internal signals bounded. In association with a new antiswing motion planning scheme, the proposed control realizes a typical antiswing trajectory control in practice, allowing high-speed load-hoisting motion and sufficient damping of load swing. The proposed control is simple for a real-time implementation with high-frequency sampling. The effectiveness of the proposed control has been confirmed by experiments.
A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting
- Views Icon Views
- Share Icon Share
- Search Site
Lee, H., Liang, Y., and Segura, D. (April 25, 2006). "A Sliding-Mode Antiswing Trajectory Control for Overhead Cranes With High-Speed Load Hoisting." ASME. J. Dyn. Sys., Meas., Control. December 2006; 128(4): 842–845. https://doi.org/10.1115/1.2364010
Download citation file: