Payload Lifting Control of Underactuated Boom Cranes Using Sliding Mode Theory

摘要

Boom cranes are widely utilized in various industrial fields. To guarantee safety and efficiency, researchers have been investing high-performance controller for payload lifting during the past years. In practical application, an important obstacle for this process is the unknown external disturbance such as friction, parameter uncertainties, and so on. To address this problem, a sliding mode controller is proposed in this paper, which guarantees satisfactory performance even under unfavorable conditions. The asymptotic stability of the desired equilibria is rigorously guaranteed by Lyapunov-based analysis. Furthermore, simulation results are provided to validate the efficiency of the proposed method.