Fuzzy Sliding Mode Control on Positioning and Anti-swing for Overhead Crane

Abstract

This paper proposes a novel positioning and anti-swing controller based on fuzzy sliding mode for an overhead crane. For the underactuated characteristics of the overhead crane, the trolley displacement and load swing angle are integrated into the same sliding mode surface. The boundness and convergence of each state on the sliding mode surface are analyzed. Appropriate fuzzy rules are introduced to adjust the control quantity to ensure that the system state is always on this surface. The sliding mode function is used to replace the tracking error signal to reduce the dependence of the control method on the system model, so that the control system has better robustness to parameter changes and external disturbances. The experiment and results analysis show that this proposed method can effectively deal with the dynamic deviation of the system model and external random disturbances. The load swing has a good suppression effect and the positioning of the trolley can be accomplished quickly and accurately. The proposed positioning and anti-swing controller based on fuzzy sliding mode is able to provide the high-quality and fast transportation of overhead cranes.