Title :
On the second order sliding mode control of a parametrically excited overhead-crane
Author :
Vazquez, Carlos ; Collado, Joaquin ; Fridman, L.
Author_Institution :
Dept. of Control, UNAM, Mexico City, Mexico
Abstract :
Systems with periodic coefficients are of fundamental interest because periodic variations appears in a great range of physical systems. This kind of variations are the cause of parametric resonance, by other hand, second order sliding modes, SOSM, is known to be robust to several kind of perturbations. The principal contribution of this note is the design of a SOSM controller that can avoid the parametric resonance in an under-actuated system. We tested the proposed control scheme on a laboratory crane that is exposed to parametric resonance. We present simulations and experiments.
Keywords :
actuators; cranes; perturbation techniques; robust control; variable structure systems; SOSM controller; laboratory crane; parametric resonance; parametrically excited overhead-crane; periodic coefficients; periodic variations; physical systems; second order sliding mode control; under-actuated system; Cranes; Laboratories; Lyapunov methods; Mathematical model; Oscillators; Stability analysis; Vectors;
Conference_Titel :
American Control Conference (ACC), 2012
Conference_Location :
Montreal, QC
Print_ISBN :
978-1-4577-1095-7
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2012.6314618