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In this paper we propose the robust sliding mode control strategy for the position control of a hoisting crane. The strategy employs the time-varying switching lines. Two alternative solutions are presented - for the line shifted with a constant velocity and for the line moving with a constant deceleration. Line parameters are optimally synthesized using the ITAE criterion, taking simultaneously into...
This paper presents a time-varying switching plane design method for the sliding mode control of the third order system subject to velocity, acceleration and input signal constraints. Initially, the switching plane passes through the system representative point in the error state space and then, it moves with a constant velocity to the origin of the space. Having reached the origin the plane stops...
In this paper a sliding mode control algorithm for cable suspended loads subject to acceleration and velocity constraints is presented. The algorithm guarantees the reaching phase elimination. Moreover, it ensures fast and monotonic system error convergence to zero without violating the acceleration and velocity constraints. The proposed method employs a time-varying switching line. At the initial...
A new sliding mode control (SMC) algorithm for the third-order uncertain, nonlinear and time-varying dynamic system subject to acceleration constraint is proposed. The algorithm employs a time-varying switching plane. At the initial time t = t0, the plane passes through the point determined by the system initial conditions in the error state space. Afterwards, the plane moves with a constant velocity...
In this paper a new sliding mode control algorithm for the third order uncertain, nonlinear and time-varying dynamic system subject to acceleration constraints is proposed. The algorithm employs a time-varying switching plane. At the initial time t = t0, the plane passes through the point determined by the system initial conditions in the error state space. Afterwards, the plane moves with a constant...
In this paper a new sliding mode control algorithm for the third order uncertain, nonlinear and time-varying dynamic system subject to input and acceleration constraints is proposed. The algorithm employs a time-varying switching plane. At the initial time t = t0, the plane passes through the point determined by the system initial conditions in the error state space. Afterwards, the plane moves with...
In this paper the design of a time-varying switching plane for the sliding mode control of the third order system subject to the velocity and acceleration constraints is considered. Initially the plane passes through the system representative point in the error state space and then it moves with a constant velocity to the origin of the space. Having reached the origin the plane stops and remains motionless...
In this paper a new sliding mode control algorithm for the third order uncertain, nonlinear and time-varying dynamic system subject to unknown disturbance and input constraint is proposed. The algorithm employs a time-varying switching plane. At the initial time the plane passes through the point determined by the system initial conditions in the error state space. Afterwards, the plane moves with...
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