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Go to Editorial ManagerIn this work, the design procedure of a hybrid robust controller for crane system is presented. The proposed hybrid controller combines the linear quadratic regulator (LQR) properties with the sliding mode control (SMC) to obtain an optimal and robust LQR/SMC controller. The crane system which is represented by pendulum and cart is used to verify the effectiveness of the proposed controller. The crane system is considered one of the highly nonlinear and uncertain systems in addition to the under-actuating properties. The parameters of the proposed LQR/SMC are selected using Particle Swarm Optimization (PSO) method. The results show that the proposed LQR/SMC controller can achieve a better performance if only SMC controller is used. The robustness of the proposed controller is examined by considering a variation in system parameters with applying an external disturbance input. Finally, the superiority of the proposed LQR/SMC controller over the SMC controller is shown in this work.
In this paper, the derivation of optimal control using state derivative feedback to obtain a new control approach is presented. A control approach similar to linear quadratic regulator (LQR) is applied to find the optimal gain matrices that achieve the desired performance. The effectiveness and robustness of the proposed controller can be shown using the uncertain and under-actuated overhead crane system. The results show that the proposed controller can robustly stabilize the system in the presence of system parameters uncertainty. Further, a more desirable time response specifications can be obtained using state derivative feedback control in comparison to the state feedback control.