[1]YAO Xinya,CHEN He.Hierarchical sliding mode control of a double pendulum crane with an extended state observer[J].CAAI Transactions on Intelligent Systems,2024,19(2):344-352.[doi:10.11992/tis.202204003]
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Hierarchical sliding mode control of a double pendulum crane with an extended state observer

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 19 Number of periods: 2024 2 Page number: 344-352 Column: 学术论文—智能系统 Public date: 2024-03-05
Title:
Hierarchical sliding mode control of a double pendulum crane with an extended state observer
Author(s):
YAO Xinya;  CHEN He
School of Artificial Intelligence, Hebei University of Technology, Tianjin 300401, China
Keywords:
crane systems; double pendulum performance; underactuated systems; hierarchical sliding mode control; extended state observer; swing suppression; mechatronics systems; advanced control
CLC:
TP249
DOI:
10.11992/tis.202204003
Abstract:
During the oversized cargo transportation process, the crane system may act like a double pendulum system, which would also be easily affected by external disturbances and result in greater control difficulty. To deal with this control problem of the double pendulum crane system, a hierarchical sliding mode control method based on an extended state observer is proposed in this work to attain fast and smooth payload transportation while effectively suppressing the swing of the payload and the hook. Particularly, the state variables and disturbance terms are estimated by the designed extended state observer, and afterward, a hierarchical sliding mode controller is proposed by using the state error signals and the estimated signals of the observer. Moreover, the disturbance compensation term is contained in the designed sliding surface to further enhance the anti-disturbance ability of the system. In comparison to current methods by simulation tests, the proposed method can bring suitable control performance regarding working efficiency and robustness.
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