基于新型滑模算法的双摆旋转起重机消摆跟踪控制

This paper proposes a novel sliding mode controller with nonlinear sliding surface for achieving both high-precision tracking control and double-pendulum load sway suppression. Unlike the traditional linear sliding surface, the nonlinear one can change the damping ratio of the closed-loop system from its initial low value to final high value. The low value can provide a quick response whereas the high one can eliminate overshoot to make boom track the given trajectory more precisely. The stability of the whole system is proven by the Lyapunov technique. Comparative simulations indicate that the tracking error for vertical and horizontal boom motions can be reduced about $40 %$ and $52 %$, respectively, the double-pendulum load sways can be suppressed as well.