A
Hey all,
I'm an Electrical Engineering student undertaking an Advanced Control subject. I need to design a sliding mode controller for a gantry crane that limits the swing angle to say, less than 15 degrees while the suspended load is moved across the gantry beam. I was wondering if anyone could give me a few pointers. I have already successfully designed and implemented a pole placement controller but I am having a lot of trouble getting my head around practically designing a sliding mode controller.
The crane is a single input two output system, the dynamics equations are,
x(s) = 5.8/(s(s+2.4)
Theta(s) = -5/((s+2.4)(s^2 +7.8))
If anyone is willing to help and need more info my email is [email protected].
Thanks in advance.
Andrew
I'm an Electrical Engineering student undertaking an Advanced Control subject. I need to design a sliding mode controller for a gantry crane that limits the swing angle to say, less than 15 degrees while the suspended load is moved across the gantry beam. I was wondering if anyone could give me a few pointers. I have already successfully designed and implemented a pole placement controller but I am having a lot of trouble getting my head around practically designing a sliding mode controller.
The crane is a single input two output system, the dynamics equations are,
x(s) = 5.8/(s(s+2.4)
Theta(s) = -5/((s+2.4)(s^2 +7.8))
If anyone is willing to help and need more info my email is [email protected].
Thanks in advance.
Andrew