Robust Anti-Swing Control of a 6-DOF Crane via Time-Delay Estimation-Based Adaptive Sliding Mode Control
Bibliographic record
Abstract
The complex overhead system featuring a double-pendulum payload is a severely underactuated system.The system only has two control inputs, while six state variables need to be controlled.Therefore, anti-swing control for this system is a significant challenge.Furthermore, it is a nonlinear system with uncertain parameters and is strongly affected by external disturbances, which makes anti-swing control even more difficult.This research presents a time-delay estimation-based adaptive sliding mode controller for a 6 degree of freedom (DOF) double-pendulum overhead crane system.The dynamic model of the 6-DOF overhead crane is first presented.Next, a sliding surface is constructed by analyzing the relationship between the unactuated and actuated states.Adaptive control based on time-delay estimation techniques and the anti-swing sliding mode control method is designed to handle system parameter uncertainties.Lyapunov stability theory is employed to analyze and establish the stability of the closed-loop system.Subsequently, simulations are performed to validate both the anti-swing performance and the robustness of the proposed controller.
Fetched live from OpenAlex and de-inverted. Abstracts are not stored in this database: the inverted indexes are 8.6 GB of the frame’s 9.3 GB of text, and the host has 13 GB free.
How this classification was reachedexpand
Full frame distilled prediction
Teacher imitationNot calibrated prevalence, not ground truth. Human validation pending. Learned from the 10,348 direct Codex labels and 10,348 direct Gemma labels. Candidate is the union of thresholded teacher heads; consensus is their intersection. These outputs are machine_predicted_unvalidated and are not human labels or direct frontier model labels.
Codex and Gemma teacher scores by category
| Category | Codex | Gemma |
|---|---|---|
| Metaresearch | 0.003 | 0.002 |
| Meta-epidemiology (narrow) | 0.001 | 0.002 |
| Meta-epidemiology (broad) | 0.004 | 0.001 |
| Bibliometrics | 0.002 | 0.001 |
| Science and technology studies | 0.001 | 0.000 |
| Scholarly communication | 0.001 | 0.001 |
| Open science | 0.001 | 0.000 |
| Research integrity | 0.001 | 0.002 |
| Insufficient payload (model declined to judge) | 0.000 | 0.000 |
Machine scores (provisional)
The two teacher heads of the student model, read on this work. A score orders the frame for review; it never asserts a category, and the validation status ships verbatim with every row.
Baseline scores from an immature model (maturity gate not passed, 7 training rounds). Scores rank; they never assert a category.
score_only:v0-immature-baseline · verbatim from the scoring run: score_only means the number may rank works, and no category label ships from itClassification
machine, unvalidatedMachine predicted; both teacher heads agree on what is shown here.
How this classification was reached, model by model and score by score, is at the end of the page under "How this classification was reached".