Adaptive fuzzy observer based hierarchical sliding mode control for uncertain 2D overhead cranes

Le, HX; Le, AV; Nguyen, L

Adaptive fuzzy observer based hierarchical sliding mode control for uncertain 2D overhead cranes

Le, HX Le, AV Nguyen, L

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Publication Type:: Journal Article
Citation:: Cyber-Physical Systems, 2019, 5 (3), pp. 191 - 208
Issue Date:: 2019-07-03

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Field	Value	Language
dc.contributor.author	Le, HX	en_US
dc.contributor.author	Le, AV	en_US
dc.contributor.author	Nguyen, L https://orcid.org/0000-0001-5360-886X	en_US
dc.date.available	2020-05-25T19:04:55Z
dc.date.issued	2019-07-03	en_US
dc.identifier.citation	Cyber-Physical Systems, 2019, 5 (3), pp. 191 - 208	en_US
dc.identifier.uri	http://hdl.handle.net/10453/133004
dc.description.abstract	© 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group. This paper proposes a new approach to robustly control a 2D under-actuated overhead crane system, where a payload is effectively transported to a destination in real time with small sway angles, given its inherent uncertainties such as actuator nonlinearities and external disturbances. The control law is proposed to be developed by the use of the robust hierarchical sliding mode control (HSMC) structure in which a second-level sliding surface is formulated by two first-level sliding surfaces drawn on both actuated and under-actuated outputs of the crane. The unknown and uncertain parameters of the proposed control scheme are then adaptively estimated by the fuzzy observer (FO), where the adaptation mechanism is derived from the Lyapunov theory. More importantly, stability of the proposed strategy is theoretically proved. Effectiveness of the proposed adaptive FO-based HSMC approach was extensively validated by implementing the algorithm in both synthetic simulations and real-life experiments, where the results obtained by our method are highly promising.	en_US
dc.relation.ispartof	Cyber-Physical Systems	en_US
dc.relation.isbasedon	10.1080/23335777.2019.1607908	en_US
dc.title	Adaptive fuzzy observer based hierarchical sliding mode control for uncertain 2D overhead cranes	en_US
dc.type	Journal Article
utslib.citation.volume	3	en_US
utslib.citation.volume	5	en_US
pubs.embargo.period	Not known	en_US
pubs.organisational-group	/University of Technology Sydney
pubs.organisational-group	/University of Technology Sydney/Faculty of Engineering and Information Technology
utslib.copyright.status	open_access
pubs.issue	3	en_US
pubs.publication-status	Published	en_US
pubs.volume	5	en_US

Abstract:

© 2019, © 2019 Informa UK Limited, trading as Taylor & Francis Group. This paper proposes a new approach to robustly control a 2D under-actuated overhead crane system, where a payload is effectively transported to a destination in real time with small sway angles, given its inherent uncertainties such as actuator nonlinearities and external disturbances. The control law is proposed to be developed by the use of the robust hierarchical sliding mode control (HSMC) structure in which a second-level sliding surface is formulated by two first-level sliding surfaces drawn on both actuated and under-actuated outputs of the crane. The unknown and uncertain parameters of the proposed control scheme are then adaptively estimated by the fuzzy observer (FO), where the adaptation mechanism is derived from the Lyapunov theory. More importantly, stability of the proposed strategy is theoretically proved. Effectiveness of the proposed adaptive FO-based HSMC approach was extensively validated by implementing the algorithm in both synthetic simulations and real-life experiments, where the results obtained by our method are highly promising.

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http://hdl.handle.net/10453/133004