Dynamic Modeling and Extension Adaptive Sliding Mode Control of Onboard Craning Manipulator

In this paper, the modeling and adaptive sliding mode control methods of an onboard craning manipulator are proposed based on extension control theory. The dynamic model based on Lagrange principle is derived while the impacts of both gravity and coupling effect are simultaneously considered. Combining with the designed dynamic model, a trajectory tracking control method is proposed through the extension control theory, because the boundary of parameters uncertainties and external disturbances could not be attained easily in the actual system. The extension adaptive sliding mode controller is designed to realize the trajectory tracking performance of system using only the measurement of joint position. And then the adaptive laws are presented to ensure the convergence of approximation errors. Finally, simulations are performed for a specific type of onboard craning manipulator system to study the effectiveness of the proposed method.