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Book Cover
E-book
Author Qian, Dianwei, author

Title Hierarchical sliding mode control for under-actuated cranes : design, analysis and simulation / Dianwei Qian, Jianqiang Yi
Published Berlin : Springer, [2016]
©2016

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Description 1 online resource
Contents Preface; Acknowledgments; Contents; 1 Introduction; Abstract; 1.1 Crane Types; 1.1.1 Overhead Cranes; 1.1.2 Boom Cranes; 1.1.3 Tower Cranes; 1.2 Review of Sliding Mode Control; 1.2.1 Variable Structure Control; 1.2.2 Sliding Mode Control; 1.2.3 Equivalent-Control-Based Sliding Mode Control; 1.2.4 Chattering Reduction; 1.2.5 Sliding Mode Control Design for State Space Model; 1.2.6 Robustness Against Uncertainties; 1.2.7 Sliding Order and Sliding Sets; 1.3 A Review of Crane Control; 1.3.1 Open-Loop Control; 1.3.1.1 Optimal Trajectory Planning; 1.3.1.2 Input Shaping; 1.3.2 Closed-Loop Control
1.3.2.1 Linear Control1.3.2.2 Partial Feedback Linearization; 1.3.2.3 Energy-Based Methods; 1.3.2.4 Robust Control and Adaptive Control; 1.3.2.5 Predictive Control; 1.3.2.6 Intelligent Control; 1.3.2.7 Sliding Mode Control; 1.4 Challenges of Sliding Mode-Based Crane Control; 1.4.1 Theoretical Challenges; 1.4.2 Practical Challenges; Appendices; A Matlab Codes to Plot Fig. 1.5a; B Matlab Codes to Plot Fig. 1.5b; C Matlab Codes to Plot Fig. 1.7; D Simulink Model to Plot Figs. 1.8 and 1.9; E Simulink Model to Plot Figs. 1.10 and 1.11; F Matlab Codes to Plot Fig. 1.12
G Simulink Model to Plot Figs. 1.13 and 1.14H Simulink Model to Plot Figs. 1.15 and 1.16; I Simulink Model to Plot Figs. 1.17, 1.18, 1.19 and 1.20; References; 2 Crane Mathematic Model; Abstract; 2.1 Modeling of Single-Pendulum-Type Cranes; 2.1.1 Modeling; 2.1.2 Model with Uncertainties; 2.1.3 Linearized Model; 2.1.4 Modeling of Double-Pendulum-Type Cranes; 2.1.4.1 Modeling; 2.1.5 Model with Uncertainties; 2.1.6 Linearized Model; Appendices; A Matlab Codes to Plot Fig. 2.2; B Matlab Codes to Plot Fig. 2.4; References; 3 Overhead Crane Control by Sliding Mode Methods; Abstract
3.1 Problem Description3.2 First-Order Sliding Mode Control; 3.2.1 Control Design of Single-Pendulum-Type Overhead Cranes; 3.2.2 Stability Analysis of the Single-Pendulum-Type Crane Control System; 3.2.3 Simulations of Nominal Single-Pendulum-Type Overhead Cranes; 3.2.4 Simulations of Uncertain Single-Pendulum-Type Overhead Cranes; 3.2.5 Extensions of Double-Pendulum-Type Overhead Cranes; 3.3 Integral Sliding Mode Control; 3.3.1 Control Design; 3.3.2 Stability Analysis; 3.3.3 Simulations of Single-Pendulum-Type Cranes by ISMC; 3.3.4 Simulations of Uncertain Single-Pendulum-Type Cranes by ISMC
3.4 Terminal Sliding Mode Control3.4.1 Control Design; 3.4.2 Stability Analysis; 3.4.3 Simulations of Single-Pendulum-Type Cranes by TSM; 3.4.4 Simulations of Uncertain Single-Pendulum-Type Cranes by TSM; 3.5 Second-Order Sliding Mode Control; 3.5.1 Control Design; 3.5.2 Stability Analysis; 3.5.3 Simulations of Single-Pendulum-Type Cranes by Second-Order SMC; 3.5.4 Simulations of Uncertain Cranes by Second-Order SMC; Appendices; A Simulink Model to Plot Figs. 3.1 and 3.2; B Simulink Model to Plot Figs. 3.5 and 3.6; C Simulink Model to Plot Figs. 3.7 and 3.8
Summary This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which were previously scattered across various journals and conference proceedings, are now presented in a systematic and unified form. The book will be of interest to researchers, engineers and graduate students in control engineering and mechanical engineering who want to learn the methods and applications of SMC
Bibliography Includes bibliographical references
Notes Online resource; title from PDF title page (EBSCO, viewed October 23, 2015)
Subject Cranes, derricks, etc. -- Design and construction
Sliding mode control.
TECHNOLOGY & ENGINEERING -- Mechanical.
Cranes, derricks, etc. -- Design and construction
Sliding mode control
Form Electronic book
Author Yi, Jianqiang, author
ISBN 9783662484173
366248417X