Authors : Djamila Zehar, Khier Benmahammed, Khalissa Behih and Aida Cherif
Abstract: Crane system is a manufacturing structure, used in bridges for buildings and in industrial transport for materials, to transfer suspended and heavy loads. Several domains and industrial use this structure which implies searches to achieve its good control. Automatic control for uncertain and perturbed crane has recently a big challenge and gives solutions where manually control strategies fail and cause accidents. The objective of control is to achieve good performances (precision, fast response time and stability when tracking a given trajectory). Recently researchers give attention to robust control such that sliding mode technique this one still has the problem of chattering which limits its applications. In this research, we propose the synergetic control of crane system which is a non-linear robust control, allows forcing the system to evolve towards an equilibrium point, according to a chosen dynamics while maintaining the same performances as in sliding mode control without chattering. To guarantee a finite time stability of the crane and faster response, we added the terminal term to the macro variables in the developed synergetic control. The development is composed of two levels in the first one, we introduce the macro variables and in the second one we combine these macro variables with a linear relation. Stability analyses is given and simulation results show the effectiveness of the propose strategy where good performances are achieved compared to terminal sliding mode control results.
Djamila Zehar, Khier Benmahammed, Khalissa Behih and Aida Cherif, 2018. Terminal Synergetic Control of Crane System. Journal of Engineering and Applied Sciences, 13: 3308-3313.