Abstract: To deal with the problems such as modeling inaccuracy, internal parametric perturbation and external disturbance commonly existing in double-container overhead crane system, this paper adopts the cross-coupling strategy and propose a method of nonlinear disturbance observer for time-varying sliding mode synchronous control of double-container overhead crane system. First, using time-varying sliding mode control ensures the global robustness of the controller. Then, the nonlinear disturbance observer to observe is employed the lumped disturbances and compensate the disturbances to the controller. Besides, a variable gain reaching law is proposed which can dynamically adapt to the variations of the control system, and effectively reduce chattering on control input and shorten approach time. Finally, the asymptotic stability of controller is verified by Lyapunov theory, the simulation results show the effectiveness of the proposed method, and the controller ensures good performance in the presence of unknown disturbances.

Key words:  Synchronous control of double-container, time-varying sliding mode, nonlinear disturbance observer, variable gain reaching law 

摘要： 为针对双起升桥式吊车双吊具同步运行过程中普遍存在的无法精确建模、系统参数变化、外部扰动未知等问题，采用交叉耦合策略，提出了一种基于非线性扰动观测器的时变滑模同步控制方法。首先，采用时变滑模控制保证了控制器的全局鲁棒性；其次，利用非线性扰动观测器观测聚合扰动，对控制器进行扰动补偿；此外，提出一种可动态适应控制系统变化的变增益趋近律，有效抑制了控制输入抖振、缩短了趋近时间。最后，利用Lyapunov理论证明控制器的渐进稳定性，并通过仿真结果表明了所提出方法的有效性，控制器在未知扰动存在的情况下仍具有良好性能。

关键词: 双吊具同步控制, 时变滑模, 非线性扰动观测器, 变增益趋近律