具有给定性能的 4-DOF 塔式起重机系统的分数阶复合滑模控制

IF 9.6 1区 工程技术 Q1 CONSTRUCTION & BUILDING TECHNOLOGY Automation in Construction Pub Date : 2024-10-30 DOI:10.1016/j.autcon.2024.105832
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引用次数: 0

摘要

由于控制输入有限,建筑塔式起重机表现出明显的非线性特征和高度灵活性,这给控制器设计和稳定性分析带来了重大挑战。为了在将系统变量限制在安全范围内的同时实现抗摇摆控制,通过将复合滑模控制与分数微积分相结合,成功开发了一种新的给定性能抗摇摆控制策略。具体来说,引入了先进的 Mittag-Leffler 稳定性和分数阶相关理论,以证明复合滑动面和所有状态变量都收敛为零。时间延迟信息估计了不确定性,消除了传统滑模控制中对不确定性上限的先验知识要求。引入的性能函数严格约束了作用变量和欠作用变量,确保了给定性能,即系统的实际瞬态和稳态控制性能可根据实际应用要求进行定量预设。最后,通过实验验证了该方法的优越性能。
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Fractional-order composite sliding mode control for 4-DOF tower crane systems with given-performance
Construction tower cranes exhibit significant nonlinear characteristics and high flexibility due to limited control input, posing major challenges for controller design and stability analysis. To achieve anti-sway control while constraining system variables within a safe range, a new given-performance anti-sway control strategy has been successfully developed by combining composite sliding mode control with fractional calculus. Specifically, advanced Mittag-Leffler stability and fractional-order relevant theories are introduced to prove the convergence of the composite sliding surface and all state variables to zero. Time delay information estimates uncertainties, eliminating the requirement of prior knowledge of the upper bound of uncertainty in traditional sliding mode control. The introduced performance function strictly constraints both the actuated and underactuated variables to ensure the given-performance, namely, the actual transient-state and steady-state control performance of the system can be quantitatively predetermined according to practical application requirements. Finally, the superior performance of the method is verified through experiments.
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来源期刊
Automation in Construction
Automation in Construction 工程技术-工程:土木
CiteScore
19.20
自引率
16.50%
发文量
563
审稿时长
8.5 months
期刊介绍: Automation in Construction is an international journal that focuses on publishing original research papers related to the use of Information Technologies in various aspects of the construction industry. The journal covers topics such as design, engineering, construction technologies, and the maintenance and management of constructed facilities. The scope of Automation in Construction is extensive and covers all stages of the construction life cycle. This includes initial planning and design, construction of the facility, operation and maintenance, as well as the eventual dismantling and recycling of buildings and engineering structures.
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