슬라이딩모드 제어기법을 이용한 비홀로노믹 RTGC 주행제어에 관한 연구

Abstract

From the middle of the 1990’s an automated RMGC(Rail-Mounted Gantry Crane) and RTGC(Rubber-Tired Gantry Crane) have been developed and widely used to handle containers in the yard. The tracking control is one of the most important factor in the automation of RTGC(Rubber-Tired Gantry Crane). But it has some considerable disadvantages in the system operating. It is that in general the steering equipment is not available. Therefore we may regard the RTGC as a nonholonomic system. A specific feature of nonholonomic system is the constraints imposed on the motion. That is the constraints which cannot be written as a time derivative function of on the generalized coordinates. The position control of nonholonomic RTGC has been treated as a class of control problems. Especially, In this paper, the system modeling and tracking control approach are discussed. And, we design the robust tracking control of nonholonomic RTGC using sliding mode. Where, the condition for existence of the estimator is denoted by a Linear Matrix Inequality(LMI) which give an optimized solution. The experiment results show the desirable performance and usefulness of the designed control system.