Modified fuzzy variable structure control method to the crane system with control deadzone problem

摘要

This paper proposes a modified fuzzy based variable structure control to achieve the position and swing control of the 3-D nonlinear overhead crane system. One derives the control power according to the variable structure controller and feedback signals-trolley position and payload swing angle. Compensating algorithm for the deadzone problem is provided in this paper and the heuristic sliding factors are also tuned automatically by the proposed fuzzy method to enrich the system performance without plant information of crane. Several experiments for the position and swing control of the nonlinear overhead crane system demonstrate the effectiveness of the proposed scheme.