Flatness-based motion planning and a sliding mode control with a extended state observer for a gantry crane: a novel approach to payload positioning problems
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https://doi.org/10.54939/1859-1043.j.mst.FEE.2024.43-50Keywords:
Crane; Flatness; Sliding mode control; Extended state observer.Abstract
This study proposes to produce a time-optimal motion controller for a single pendulum crane system based on the theory of construction so that the system transfers the load to the desired position while reducing vibration with variable variable rope length. The dynamics of the system is constructed by applying the Euler-Lagrange method. In addition, to improve robustness and noise effects, the study used a fixed-time extended state observer (ESO) and a sliding mode control (SMC). ESO provides an accurate estimate of the state and total disturbances in a fixed time. The expected trajectory is obtained by solving the optimal parameters of the flat output.
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