Abstract: In order to solve the internal parameter variation and external disturbance problem of 2-demensional underactuated overhead crane antisway control system, a terminal sliding mode controller with disturbance compensation is presented. In this method, the nonlinear disturbance observer is designed to estimate the uncertain dynamics of the system. And the terminal sliding surface is designed to make the tracking error converge to zero in finite time. At the same time, the chattering of the sliding mode controller is weakened. The stability analysis of the controller is given. The simulation results show the good performance of this control algorithm.

摘要： 针对二维欠驱动桥式吊车防摇定位控制中普遍存在的内部参数变化及摩擦等外部不确定性扰动问题，提出了一种基于带有扰动补偿的终端滑模结构的桥吊控制方法。该方法首先设计非线性扰动观测器对系统的不确定动态进行在线估算，提升了系统的鲁棒性；然后利用终端滑模面使跟踪误差在有限时间内收敛到零，同时削弱了滑模控制器的抖振现象。给出了该控制器的稳定性分析，仿真结果证明了该方法的鲁棒性和优越性。

关键词: 陈天宇, 徐为民, 陈曦, 岳雅雯