Feedforward-control-based nonlinear control for overhead cranes with matched and unmatched disturbances

In this paper, a composite control method consisting of a feedforward control method and a sliding mode control method is proposed for control of the overhead crane. For existing methods, only matched disturbances are taken into consideration, unmatched disturbances are usually neglected. To address this drawback, a disturbance compensation method is constructed to attenuate the effects of disturbances and a continuous global sliding mode control method is devised to guarantee the stability. More precisely, we first make some transformations on the original model. Then, a disturbance compensation method is proposed and a continuous global sliding mode control scheme is introduced straightforwardly. The stability of the closed-loop system and the convergence of the states are proven through complete theoretical analysis. Finally, simulation and experimental tests are carried out to illustrate the regulation control property of the designed approach as well as its excellent disturbance rejection characteristic.

Automated summary

This paper proposes a composite control method consisting of a feedforward control method and a sliding mode control method for control of the overhead crane. A disturbance compensation method is constructed to attenuate the effects of disturbances, and a continuous global sliding mode control method is devised to guarantee stability. The stability of the closed-loop system and the convergence of the states are proven through theoretical analysis. Simulation and experimental tests demonstrate the regulation control property and excellent disturbance rejection characteristic of the designed approach.