Adaptive Sliding Mode Control for Tower Crane System With Boundary Layer Function

Mohammed Basheer Mohiuddin, Abdel Gafoor Haddad, Igor Boiko, Yahya Zweiri

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

1 Scopus citations

Abstract

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.

Original languageBritish English
Title of host publication2024 17th International Workshop on Variable Structure Systems, VSS 2024
PublisherIEEE Computer Society
Pages153-157
Number of pages5
ISBN (Electronic)9798350353686
DOIs
StatePublished - 2024
Event17th International Workshop on Variable Structure Systems, VSS 2024 - Abu Dhabi, United Arab Emirates
Duration: 21 Oct 202424 Oct 2024

Publication series

NameProceedings of IEEE International Workshop on Variable Structure Systems
ISSN (Print)2165-4816
ISSN (Electronic)2165-4824

Conference

Conference17th International Workshop on Variable Structure Systems, VSS 2024
Country/TerritoryUnited Arab Emirates
CityAbu Dhabi
Period21/10/2424/10/24

Keywords

  • Boundary Layer function
  • Chattering Suppression
  • Sliding Mode Control
  • Tower Crane Automation

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