Fixed time anti-interference sliding mode tracking control method for under-actuated bridge crane

By designing a fixed-time anti-slip mode tracking control method on an under-driven axle crane, using auxiliary variables and fixed-time nonlinear interference observer, tracking error convergence and disturbance compensation within a fixed time are achieved, and the problems of uncertainty in the tracking error convergence time and sensitivity to disturbance in the prior art are solved.

CN119660579AInactive Publication Date: 2025-03-21ZHEJIANG UNIV OF TECH
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Patent Information

Application Number
CN202411800065.4
Authority / Receiving Office
CN · China
Patent Type
Applications(China)
Current Assignee / Owner
Filing Date
2024-12-09
Publication Date
2025-03-21
Estimated Expiration
Not applicable · inactive patent

AI Technical Summary

Technical Problem

The existing under-drive axle crane control method fails to ensure tracking error convergence within a fixed time, and does not fully consider the impact of external disturbances and system uncertainty on control performance.

Method used

A fixed-time anti-slip mode tracking control method is proposed, which converts the crane dynamic model into a quasi-integrator chain structure through auxiliary variables, and designs a fixed-time nonlinear interference observer and sliding mode controller to realize the fixed-time convergence of disturbance compensation and tracking errors.

Benefits of technology

This method can converge the tracking error to the sliding mode surface within a fixed time, effectively suppress the impact of external disturbances and system uncertainty on control performance, and improve the robustness of the system.

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Abstract

A fixed time anti-interference sliding mode tracking control method for an under-actuated bridge crane comprises the following steps: firstly, designing a disturbance observer which can converge in fixed time and is used for accurately estimating disturbance in a system so as to provide effective disturbance compensation information for a subsequent control strategy; secondly, in combination with the fixed time disturbance observer, a sliding mode controller is provided to ensure that the crane can accurately track a given trajectory and enable a tracking error to converge to a sliding mode surface within a fixed time. According to the invention, accurate positioning of the trolley can be realized, and load swing can be effectively inhibited in a complex environment. According to the method, the control precision and robustness of the under-actuated bridge crane in a disturbed environment can be remarkably improved, and an effective solution is provided for crane control under complex working conditions.
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