Adaptive HJI sliding mode control of three dimensional overhead cranes
This paper develops an adaptive version of HJI sliding mode controller for the overhead cranes. It deals with the effects of actuator saturation and the presence of disturbances based on RBF neural networks. The sufficient condition under which the overhead crane system is robustly dissipative is proposed using Hamilton Jacobi Issacs inequality(HJI) approach. The controller can simultaneously move the trolley and the bridge to their destinations, reduce cargo vibrations during transfer and eliminate cargo swings at the trolley and bridge destinations. The simulation results indicate that the proposed controller asymptotically stabilize all system responses.
2016 Chinese Control and Decision Conference (CCDC)