Hybrid Robust Control for Gantry Crane System
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.
Z. M. Chen et al., "Hybrid Robust Control for Gantry Crane System", Applied Mechanics and Materials, Vols. 29-32, pp. 2082-2088, 2010