Hierarchical Sliding Mode Control for Under-actuated Cranes Design,
This book reports on the latest developments in sliding mode overhead crane control, presenting novel research ideas and findings on sliding mode control (SMC), hierarchical SMC and compensator design-based hierarchical sliding mode. The results, which we
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erarchical Sliding Mode Control for Underactuated Cranes Design, Analysis and Simulation
Hierarchical Sliding Mode Control for Under-actuated Cranes
Dianwei Qian Jianqiang Yi •
Hierarchical Sliding Mode Control for Under-actuated Cranes Design, Analysis and Simulation
123
Dianwei Qian School of Control and Computer Engineering North China Electric Power University Beijing China
Jianqiang Yi Institute of Automation Chinese Academy of Sciences Beijing China
Additional material to this book can be downloaded from http://extras.springer.com. ISBN 978-3-662-48415-9 DOI 10.1007/978-3-662-48417-3
ISBN 978-3-662-48417-3
(eBook)
Library of Congress Control Number: 2015949449 Springer Heidelberg New York Dordrecht London © Springer-Verlag Berlin Heidelberg 2016 This work is subject to copyright. All rights are reserved by the Publisher, whether the whole or part of the material is concerned, specifically the rights of translation, reprinting, reuse of illustrations, recitation, broadcasting, reproduction on microfilms or in any other physical way, and transmission or information storage and retrieval, electronic adaptation, computer software, or by similar or dissimilar methodology now known or hereafter developed. The use of general descriptive names, registered names, trademarks, service marks, etc. in this publication does not imply, even in the absence of a specific statement, that such names are exempt from the relevant protective laws and regulations and therefore free for general use. The publisher, the authors and the editors are safe to assume that the advice and information in this book are believed to be true and accurate at the date of publication. Neither the publisher nor the authors or the editors give a warranty, express or implied, with respect to the material contained herein or for any errors or omissions that may have been made. Printed on acid-free paper Springer-Verlag GmbH Berlin Heidelberg is part of Springer Science+Business Media (www.springer.com)
Dedicated to my wife Weiwei Zhao and our daughter Siqi Qian as well as to my parents Yubao Qian and Lixiang Bai with love and gratitude Dianwei Qian
Dedicated to my wife Li Zhang and our children with love and gratitude Jianqiang Yi
Preface
Overhead cranes are widely used in many places, such as warehouses, disaster sites, nuclear plants, shipyards and construction sites. Overhead crane control has been paid more and more attention in recent years. Concerning the control problem, numerous theoretical studies and practical implementations have been carried out. Accordingly, various control methods have been presented. Among the diversity of control methods, sliding mode control is recognized as one of the most efficient design tools. Many control designs and applications in the fields of sliding mode control for overhead cranes have been published in various journals and conference proceedings. In spite of these remarkable advances in this field, most of the current researches only focus on some special control applications, rather than a system
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