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- W4382698558 abstract "The double-pendulum overhead crane system belongs to a class of underactuated mechanical systems, which is challenging to control due to its strong nonlinearities. This study deals with the nonlinear controller design for a double-pendulum overhead crane based on hierarchical sliding mode control with state-dependent switching gain. The equivalent and switching controls are obtained with the aid of first-level and second-level sliding surfaces. The asymptotic stability of sliding surfaces is proved theoretically and also shown graphically. Numerical simulations show that the proposed controller performs better than conventional hierarchical sliding mode control. The proposed controller effectively suppresses the load and hook swing and precisely controls the trolley’s displacement. It has strong robustness to the payload displacement and the change of the crane parameters." @default.
- W4382698558 created "2023-07-01" @default.
- W4382698558 creator A5054907722 @default.
- W4382698558 date "2023-06-30" @default.
- W4382698558 modified "2023-10-17" @default.
- W4382698558 title "Control of a Double-Pendulum Overhead Crane System Based on Hierarchical Sliding Mode Control Techniques" @default.
- W4382698558 doi "https://doi.org/10.1142/s1793048023410023" @default.
- W4382698558 hasPublicationYear "2023" @default.
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