Synchronization Control for Dual-container Lifting System with Mismatched Disturbances

ZHAO Wei-wei, XU Wei-min, YUAN He-song, HUANG Jin-ling, HU Yi-bin

Control Engineering of China ›› 2022, Vol. 29 ›› Issue (7) : 1187-1194.

Control Engineering of China ›› 2022, Vol. 29 ›› Issue (7) : 1187-1194.

Synchronization Control for Dual-container Lifting System with Mismatched Disturbances

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Abstract

To solve the problem of synchronization control for dual-container lifting system with mismatched disturbances, a moving sliding mode control method based on time-varying extended state observer is presented. First, a moving sliding mode controller is proposed by employing cross-coupling control strategy, which can ensure the good robustness of the system in initial state. Then, a novel reaching law and adaptive switching law are employed to achieve fast convergence of the system state errors and restrain the chattering in the sliding mode controller. For the compensation of mismatched disturbances, a novel time-varying extended state observer is designed, which makes the proposed controller robust to mismatched disturbances. Additionally, the stability of the closed-loop control system is proved by using the Lyapunov theory. Finally, the simulation results show the effectiveness and reliability of the proposed controller.

Key words

Dual-container / synchronization control / moving sliding mode surface / extended state observer / mismatched disturbance

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ZHAO Wei-wei, XU Wei-min, YUAN He-song, HUANG Jin-ling, HU Yi-bin. Synchronization Control for Dual-container Lifting System with Mismatched Disturbances[J]. Control Engineering of China, 2022, 29(7): 1187-1194

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