Journal
IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS
Volume 55, Issue 11, Pages 3972-3984Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TIE.2008.2004385
Keywords
Adaptive antisway trajectory tracking; fuzzy sliding-mode control (FSMC); fuzzy uncertainty observer (FUO); overhead crane
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Funding
- Korea Science and Engineering Foundation [R01-2006-000-11373-0]
- National Research Foundation of Korea [R01-2006-000-11373-0] Funding Source: Korea Institute of Science & Technology Information (KISTI), National Science & Technology Information Service (NTIS)
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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.
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