Finite-Time Trajectory Tracking Control Without Payload-Swing Feedback for Overhead Crane Systems Subject to Uncertain Dynamics
- Resource Type
- Conference
- Authors
- Zhang, Menghua; Ma, Xin; Song, Rui; Rong, Xuewen; Tian, Xincheng; Tian, Guohui; Li, Yibin
- Source
- 2018 IEEE 8th Annual International Conference on CYBER Technology in Automation, Control, and Intelligent Systems (CYBER) CYBER Technology in Automation, Control, and Intelligent Systems (CYBER), 2018 IEEE 8th Annual International Conference on. :861-866 Jul, 2018
- Subject
- Bioengineering
Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Computing and Processing
General Topics for Engineers
Power, Energy and Industry Applications
Robotics and Control Systems
Signal Processing and Analysis
Transportation
Underactuated overhead cranes systems
terminal sliding mode observer
finite time
trajectory tracking control
uncertain dynamics
- Language
In this paper, a finite-time trajectory tracking control method for overhead crane systems with uncertain dynamics is proposed. Unlike most existing crane control methods, the controller needs no payload-swing feedback and is proposed in the framework of observer-based control design. As shown by Lyapunov techniques and LaSalle's invariance theorem, the proposed controller guarantees finite-time tracking result even in the presence of uncertain dynamics and no payload-swing feedback. Simulation results are provided to illustrate the superior control performance of the proposed controller.