Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead Crane
This study presents a control system for an overhead crane using an aggregated hierarchical sliding mode control (AHSMC) approach with a high-gain observer. The control law is designed to minimize oscillations and increase the stability of the crane system. The observer is used to estimate the state...
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| Format: | Article |
| Language: | English |
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EDP Sciences
2025-01-01
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| Series: | EPJ Web of Conferences |
| Online Access: | https://www.epj-conferences.org/articles/epjconf/pdf/2025/15/epjconf_cistem2024_02007.pdf |
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| author | Bidane Issam Ailane Abdellah Khamlich Salaheddine |
| author_facet | Bidane Issam Ailane Abdellah Khamlich Salaheddine |
| author_sort | Bidane Issam |
| collection | DOAJ |
| description | This study presents a control system for an overhead crane using an aggregated hierarchical sliding mode control (AHSMC) approach with a high-gain observer. The control law is designed to minimize oscillations and increase the stability of the crane system. The observer is used to estimate the state of the system, including the cable angle and payload (spreader and container) angle, using only the available sensor measurements. The proposed approach was tested through simulations, demonstrating its effectiveness and robustness in the presence of changing reference signals. The results show that the proposed control system provides accurate and stable control of the overhead crane system with improved static and dynamic performance. |
| format | Article |
| id | doaj-art-fbbf7679ae0246899ee97e8ec75eed36 |
| institution | Kabale University |
| issn | 2100-014X |
| language | English |
| publishDate | 2025-01-01 |
| publisher | EDP Sciences |
| record_format | Article |
| series | EPJ Web of Conferences |
| spelling | doaj-art-fbbf7679ae0246899ee97e8ec75eed362025-08-20T03:31:42ZengEDP SciencesEPJ Web of Conferences2100-014X2025-01-013300200710.1051/epjconf/202533002007epjconf_cistem2024_02007Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead CraneBidane Issam0Ailane Abdellah1Khamlich Salaheddine2Laboratory of Sciences and Techniques for the Engineering (LaSTI), ENSA Khouribga, Sultan Moulay Slimane University of Beni- MellalLaboratory of Sciences and Techniques for the Engineering (LaSTI), ENSA Khouribga, Sultan Moulay Slimane University of Beni- MellalLaboratory of Sciences and Techniques for the Engineering (LaSTI), ENSA Khouribga, Sultan Moulay Slimane University of Beni- MellalThis study presents a control system for an overhead crane using an aggregated hierarchical sliding mode control (AHSMC) approach with a high-gain observer. The control law is designed to minimize oscillations and increase the stability of the crane system. The observer is used to estimate the state of the system, including the cable angle and payload (spreader and container) angle, using only the available sensor measurements. The proposed approach was tested through simulations, demonstrating its effectiveness and robustness in the presence of changing reference signals. The results show that the proposed control system provides accurate and stable control of the overhead crane system with improved static and dynamic performance.https://www.epj-conferences.org/articles/epjconf/pdf/2025/15/epjconf_cistem2024_02007.pdf |
| spellingShingle | Bidane Issam Ailane Abdellah Khamlich Salaheddine Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead Crane EPJ Web of Conferences |
| title | Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead Crane |
| title_full | Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead Crane |
| title_fullStr | Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead Crane |
| title_full_unstemmed | Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead Crane |
| title_short | Robust Aggregated Hierarchical Sliding Mode Controller Based on the High-Gain Observer of Double-Pendulum Overhead Crane |
| title_sort | robust aggregated hierarchical sliding mode controller based on the high gain observer of double pendulum overhead crane |
| url | https://www.epj-conferences.org/articles/epjconf/pdf/2025/15/epjconf_cistem2024_02007.pdf |
| work_keys_str_mv | AT bidaneissam robustaggregatedhierarchicalslidingmodecontrollerbasedonthehighgainobserverofdoublependulumoverheadcrane AT ailaneabdellah robustaggregatedhierarchicalslidingmodecontrollerbasedonthehighgainobserverofdoublependulumoverheadcrane AT khamlichsalaheddine robustaggregatedhierarchicalslidingmodecontrollerbasedonthehighgainobserverofdoublependulumoverheadcrane |