TY - GEN
T1 - Adaptive Sliding Mode Control for Tower Crane System With Boundary Layer Function
AU - Mohiuddin, Mohammed Basheer
AU - Gafoor Haddad, Abdel
AU - Boiko, Igor
AU - Zweiri, Yahya
N1 - Publisher Copyright:
© 2024 IEEE.
PY - 2024
Y1 - 2024
N2 - In the field of industrial automation, precise control of tower crane operations is critical to ensure safety and efficiency. This paper introduces a novel adaptive sliding mode control (ASMC) strategy aimed at enhancing the control of the trolley motion along the jib of a tower crane. The primary goal of this control system is to effectively suppress the undesirable oscillations - commonly referred to as "chattering"- that often cause damage to the equipment. Such chattering not only compromises the safety of crane operations but also affects the longevity of the equipment. The proposed ASMC strategy incorporates adaptive mechanisms that adjust the controller parameters in real-time. This adaptability ensures robust performance and significantly mitigates chattering without sacrificing the system's responsiveness. Furthermore, the developed controller has been successfully deployed and rigorously tested on an experimental setup of a real-world tower crane system. The experimental results demonstrate the efficiency of the ASMC in reducing chattering, thereby validating its potential for real-world applications in tower crane systems. This research contributes to the ongoing efforts in automation technology by providing a reliable solution to a prevalent challenge in crane operations. A video demonstration of the experiments can be found at https://youtu.be/-TRNeVKn7KY.
AB - In the field of industrial automation, precise control of tower crane operations is critical to ensure safety and efficiency. This paper introduces a novel adaptive sliding mode control (ASMC) strategy aimed at enhancing the control of the trolley motion along the jib of a tower crane. The primary goal of this control system is to effectively suppress the undesirable oscillations - commonly referred to as "chattering"- that often cause damage to the equipment. Such chattering not only compromises the safety of crane operations but also affects the longevity of the equipment. The proposed ASMC strategy incorporates adaptive mechanisms that adjust the controller parameters in real-time. This adaptability ensures robust performance and significantly mitigates chattering without sacrificing the system's responsiveness. Furthermore, the developed controller has been successfully deployed and rigorously tested on an experimental setup of a real-world tower crane system. The experimental results demonstrate the efficiency of the ASMC in reducing chattering, thereby validating its potential for real-world applications in tower crane systems. This research contributes to the ongoing efforts in automation technology by providing a reliable solution to a prevalent challenge in crane operations. A video demonstration of the experiments can be found at https://youtu.be/-TRNeVKn7KY.
KW - Boundary Layer function
KW - Chattering Suppression
KW - Sliding Mode Control
KW - Tower Crane Automation
UR - http://www.scopus.com/inward/record.url?scp=85212275543&partnerID=8YFLogxK
U2 - 10.1109/VSS61690.2024.10753390
DO - 10.1109/VSS61690.2024.10753390
M3 - Conference contribution
AN - SCOPUS:85212275543
T3 - Proceedings of IEEE International Workshop on Variable Structure Systems
SP - 153
EP - 157
BT - 2024 17th International Workshop on Variable Structure Systems, VSS 2024
PB - IEEE Computer Society
T2 - 17th International Workshop on Variable Structure Systems, VSS 2024
Y2 - 21 October 2024 through 24 October 2024
ER -