A Second Order Sliding Mode Control of Container Cranes with Unknown Payloads and Sway Rates
نویسندگان
چکیده
منابع مشابه
Second-order Sliding Mode Control for Offshore Container Cranes
Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for traj...
متن کاملSecond-order Sliding Mode Control for Offshore Container Cranes
Open-sea stevedores of containers provide an alternative way to avoid port congestion. This process involves a mobile harbour equipped with a crane which loads/unloads containers from a large cargo ship. However, the presence of ocean waves and gusty winds can produce an excessive sway to the hoisting ropes of the crane system. This paper presents a second-order sliding mode controller for traj...
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In this paper, a new smooth second order sliding mode control is proposed. This algorithm is a modified form of Super Twisting algorithm. The Super Twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular Lyapunov function. The Proposed algorithm which is able to control nonlinear systems with matched structured u...
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in this paper, a new smooth second order sliding mode control is proposed. this algorithm is a modified form of super twisting algorithm. the super twisting guarantees the asymptotic stability, but the finite time stability of proposed method is proved with introducing a new particular lyapunov function. the proposed algorithm which is able to control nonlinear systems with matched structured u...
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The requirement of a uniformly bounded convergence time for all initial conditions is important for modern control theory. In particular the requirement appears in design of hybrid or switched systems. It can happen in such systems that a dynamic system repeatedly changes its configuration, and the configuration only lasts for some bounded time with its lower estimation known in advance. The na...
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ژورنال
عنوان ژورنال: Journal of Institute of Control, Robotics and Systems
سال: 2015
ISSN: 1976-5622
DOI: 10.5302/j.icros.2015.14.0092