An Efficient Adaptive Hierarchical Sliding Mode Control Strategy Using Neural Networks for 3D Overhead Cranes

doi:10.1007/s11633-019-1174-y

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	An Efficient Adaptive Hierarchical Sliding Mode Control Strategy Using Neural Networks for 3D Overhead Cranes
	Viet-Anh Le 1; Hai-Xuan Le 1; Linh Nguyen 2; Minh-Xuan Phan 1
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:5 页码:614-627
摘要	In this paper, a new adaptive hierarchical sliding mode control scheme for a 3D overhead crane system is proposed. A controller is first designed by the use of a hierarchical structure of two first-order sliding surfaces represented by two actuated and un-actuated subsystems in the bridge crane. Parameters of the controller are then intelligently estimated, where uncertain parameters due to disturbances in the 3D overhead crane dynamic model are proposed to be represented by radial basis function networks whose weights are derived from a Lyapunov function. The proposed approach allows the crane system to be robust under uncertainty conditions in which some uncertain and unknown parameters are highly difficult to determine. Moreover, stability of the sliding surfaces is proved to be guaranteed. Effectiveness of the proposed approach is then demonstrated by implementing the algorithm in both synthetic and real-life systems, where the results obtained by our method are highly promising.
关键词	3D overhead crane adaptive control hierarchical sliding mode control neural network radial basis function.
DOI	10.1007/s11633-019-1174-y
引用统计	被引频次：31[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42362
专题	学术期刊_Machine Intelligence Research
作者单位	1.Department of Automatic Control, Hanoi University of Science and Technology, Hanoi 10000, Vietnam 2.Centre for Autonomous Systems, University of Technology Sydney, New South Wales 2007, Australia
推荐引用方式 GB/T 7714	Viet-Anh Le,Hai-Xuan Le,Linh Nguyen,et al. An Efficient Adaptive Hierarchical Sliding Mode Control Strategy Using Neural Networks for 3D Overhead Cranes[J]. International Journal of Automation and Computing,2019,16(5):614-627.
APA	Viet-Anh Le,Hai-Xuan Le,Linh Nguyen,&Minh-Xuan Phan.(2019).An Efficient Adaptive Hierarchical Sliding Mode Control Strategy Using Neural Networks for 3D Overhead Cranes.International Journal of Automation and Computing,16(5),614-627.
MLA	Viet-Anh Le,et al."An Efficient Adaptive Hierarchical Sliding Mode Control Strategy Using Neural Networks for 3D Overhead Cranes".International Journal of Automation and Computing 16.5(2019):614-627.

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