Antisway Tracking Control of Overhead Cranes With System Uncertainty and Actuator Nonlinearity Using an Adaptive Fuzzy Sliding-Mode Control

• Published in: IEEE transactions on industrial electronics (1982) Vol. 55; no. 11; pp. 3972 - 3984
• Main Authors: Park, Mun-Soo, Chwa, Dongkyoung, Hong, Suk-Kyo
• Format: Journal Article
• Language: English
• Published: New York IEEE 01.11.2008; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Actuators; Adaptive antisway trajectory tracking; Adaptive control; Asymptotic properties; Control systems; Cranes; Fuzzy; Fuzzy control; Fuzzy logic; Fuzzy set theory; fuzzy sliding-mode control (FSMC); Fuzzy systems; fuzzy uncertainty observer (FUO); Law; Nonlinear control systems; Nonlinear dynamics; overhead crane; Programmable control; Sliding mode control; Trajectories; Uncertainty
• ISSN: 0278-0046; 1557-9948
• DOI: 10.1109/TIE.2008.2004385

An adaptive fuzzy sliding-mode control (AFSMC) is presented for the robust antisway trajectory tracking of overhead cranes subject to both system uncertainty and actuator nonlinearity. First, a fuzzy sliding-mode control (FSMC) law is designed for the antisway trajectory tracking of the nominal plant. In association with a conventional trajectory tracking control law, this FSMC law guarantees asymptotic stability as well as improved transient response of the load sway dynamics while the trolley tracking error dynamics is rendered uniformly asymptotically stable. Second, a fuzzy uncertainty observer is designed to cope with system uncertainty as well as actuator nonlinearity present in an actual plant, and it is incorporated with the FSMC law for the development of the AFSMC law. In addition to stability analysis, the robust performance of the proposed AFSMC law is verified via numerical simulations and experiments.