대한전기학회:학술대회논문집 (Proceedings of the KIEE Conference)
- 대한전기학회 2008년도 제39회 하계학술대회
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- Pages.1683-1684
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- 2008
오버헤드 크레인 시스템의 비특이성 터미널 슬라이딩 모드 제어
Nonsingular Terminal Sliding Mode Control of Overhead Crane System
- Lee, Sin-Ho (Department of Electrical & Electronic Engineering, Yonsei University) ;
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Choi, Yoon-Ho
(School of Electronic Engineering, Kyonggi University) ;
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Park, Jin-Bae
(Department of Electrical & Electronic Engineering, Yonsei University)
- 발행 : 2008.07.16
초록
In this paper, a hierarchical nonsingular terminal sliding mode controller (TSMC) for overhead crane system using nonsingular terminal sliding surface (NTSS) is proposed, which can drive the error to zero in a finite time. Here, singular problem of controller is solved by NTSS. In addition, the controller has the double layer structure because the system is divided into two hierarchical subsystems. In the first layer, the nonsingular terminal sliding surfaces are hierarchically designed for each subsystem, and in the second layer, the whole sliding surface is designed as the linear combination of nonsingular terminal sliding surfaces. The asymptotic stability of the system is verified by Lyapunov analysis. Finally, we carry out simulations on the overhead crane system to illustrate the effectiveness of the proposed control method.
키워드