Proceedings of the KIEE Conference (대한전기학회:학술대회논문집)

The Korean Institute of Electrical Engineers (대한전기학회)
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Nonsingular Terminal Sliding Mode Control of Overhead Crane System

오버헤드 크레인 시스템의 비특이성 터미널 슬라이딩 모드 제어

  • Lee, Sin-Ho (Department of Electrical & Electronic Engineering, Yonsei University) ;
  • Choi, Yoon-Ho (School of Electronic Engineering, Kyonggi University) ;
  • Park, Jin-Bae (Department of Electrical & Electronic Engineering, Yonsei University)
  • 이신호 (연세대학교 전기전자공학과) ;
  • 최윤호 (경기대학교 전자공학부) ;
  • 박진배 (연세대학교 전기전자공학과)
  • Published : 2008.07.16
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Abstract

In this paper, a hierarchical nonsingular terminal sliding mode controller (TSMC) for overhead crane system using nonsingular terminal sliding surface (NTSS) is proposed, which can drive the error to zero in a finite time. Here, singular problem of controller is solved by NTSS. In addition, the controller has the double layer structure because the system is divided into two hierarchical subsystems. In the first layer, the nonsingular terminal sliding surfaces are hierarchically designed for each subsystem, and in the second layer, the whole sliding surface is designed as the linear combination of nonsingular terminal sliding surfaces. The asymptotic stability of the system is verified by Lyapunov analysis. Finally, we carry out simulations on the overhead crane system to illustrate the effectiveness of the proposed control method.

Keywords