Hybrid Robust Control for Gantry Crane System

Abstract:

A new hybrid control scheme combining input shaping technique with robust sliding mode control is proposed for a gantry crane system. A cascade sliding-mode controller is designed to control the trolley position and eliminate the sway of load. The transient vibration is reduced further for safety problems by the input shaping technique which utilizes zero-vibration-derivative (ZVD) robust input shapers. This method can not only realize the accurate position of the trolley and eliminate the sway of the load and residual vibration, but also completely eliminate the chattering of conventional sliding mode control and improve the robustness of system. The simulation results proved its effectiveness.

• Periodical: Applied Mechanics and Materials (Volumes 29-32)
• Pages: 2082-2088
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.29-32.2082
• Online since: August 2010
• Authors: Zhi Mei Chen, Wen Jun Meng, Ming Hui Zhao, Jing Gang Zhang
• Keywords: Cascade Sliding Mode, Gantry Crane, Hybrid Control, Input Shaping, Residual Vibration

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