{"title":"Robust Sliding Mode Control for a Class of Gantry Crane System With Time-Varying Disturbances","authors":"Jiayang Zhang, Wei Wu","doi":"10.1002/rnc.7825","DOIUrl":null,"url":null,"abstract":"<div>\n \n <p>This paper proposes a sliding mode controller (SMC) to address the control problem of the gantry crane system affected by the time-varying boundary disturbances. Through the application of Lagrangian-Hamiltonian mechanics, the gantry crane system is modeled as a set of partial differential equations. Utilizing operator semigroup theory, it demonstrates that a closed-loop system is well-posed. By employing Lyapunov functional theory and extended Krasovskii-LaSalles' invariance principle, the asymptotic stability is confirmed. To demonstrate the effectiveness and comparative advantages of the proposed control method, numerical contrast simulations are conducted. Furthermore, comparative experiments are conducted to validate the designed controller.</p>\n </div>","PeriodicalId":50291,"journal":{"name":"International Journal of Robust and Nonlinear Control","volume":"35 8","pages":"3055-3070"},"PeriodicalIF":3.2000,"publicationDate":"2025-01-22","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"International Journal of Robust and Nonlinear Control","FirstCategoryId":"94","ListUrlMain":"https://onlinelibrary.wiley.com/doi/10.1002/rnc.7825","RegionNum":3,"RegionCategory":"计算机科学","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"AUTOMATION & CONTROL SYSTEMS","Score":null,"Total":0}
引用次数: 0
Abstract
This paper proposes a sliding mode controller (SMC) to address the control problem of the gantry crane system affected by the time-varying boundary disturbances. Through the application of Lagrangian-Hamiltonian mechanics, the gantry crane system is modeled as a set of partial differential equations. Utilizing operator semigroup theory, it demonstrates that a closed-loop system is well-posed. By employing Lyapunov functional theory and extended Krasovskii-LaSalles' invariance principle, the asymptotic stability is confirmed. To demonstrate the effectiveness and comparative advantages of the proposed control method, numerical contrast simulations are conducted. Furthermore, comparative experiments are conducted to validate the designed controller.
期刊介绍：
Papers that do not include an element of robust or nonlinear control and estimation theory will not be considered by the journal, and all papers will be expected to include significant novel content. The focus of the journal is on model based control design approaches rather than heuristic or rule based methods. Papers on neural networks will have to be of exceptional novelty to be considered for the journal.
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