Adaptive fuzzy observer based hierarchical sliding mode control for uncertain 2D overhead cranes

Abstract

ABSTRACTThis paper proposes a new approach to robustly control a 2D under-actuated overhead crane system, where a payload is effectively transported to a destination in real time with small sway angles, given its inherent uncertainties such as actuator nonlinearities and external disturbances. The control law is proposed to be developed by the use of the robust hierarchical sliding mode control (HSMC) structure in which a second-level sliding surface is formulated by two first-level sliding surfaces drawn on both actuated and under-actuated outputs of the crane. The unknown and uncertain parameters of the proposed control scheme are then adaptively estimated by the fuzzy observer (FO), where the adaptation mechanism is derived from the Lyapunov theory. More importantly, stability of the proposed strategy is theoretically proved. Effectiveness of the proposed adaptive FO-based HSMC approach was extensively validated by implementing the algorithm in both synthetic simulations and real-life experiments, where the results obtained by our method are highly promising.