Adaptive Fuzzy Sliding Mode Method-Based Position and Anti-swing Control for Overhead Cranes

摘要

In this paper, an indirect adaptive fuzzy sliding mode control approach is proposed for anti-swing and position control of overhead cranes taking into account the uncertainty of load mass. The approach employs a sliding surface that couples the trolley motion and load swing dynamics to regulate the trolley position and guarantee the stability of swing dynamics, and applies the fuzzy logic systems to approximate the unknown functions which are caused by the load mass uncertainty, simultaneously adopts Lyapunov method to derive the parameters adaptive laws of fuzzy logic systems. Finally, the effectiveness of the proposed control is shown by the computer simulation.