Design of Adaptive Time-Varying Sliding Mode Controller for Underactuated Overhead Crane Optimized via Improved Honey Badger Algorithm

To improve the robustness of overhead crane controllers to variations in system physical parameters and enable a smooth startup of crane systems, an adaptive time-varying sliding mode controller optimized via an improved honey badger algorithm (IHBA-ATSMC) is proposed herein. Unlike the conventional crane control method, the ATSMC can ensure that the control force increases smoothly from zero to realize the smooth start of the crane system, and does not need to predict the precise information of the system (including physical parameters and friction parameters). To better release the control performance of ATSMC, an improved honey Badger algorithm was designed to obtain the controller parameters with good performance, and the parameters optimization goal of ATSMC can be achieved in limited time. Simulation and experimental results indicate that the IHBA-ATSMC offers outstanding anti-swing positioning, a smooth startup, robustness enhancement, and parameter tuning.

Automated summary

To improve the robustness of overhead crane controllers and enable a smooth startup, an adaptive time-varying sliding mode controller optimized via an improved honey badger algorithm (IHBA-ATSMC) is proposed. Unlike conventional methods, the ATSMC ensures a smooth increase in control force for a smooth start without requiring precise system information. The improved honey Badger algorithm is used to obtain controller parameters with good performance, achieving parameter optimization in limited time. Simulation and experimental results demonstrate the outstanding performance of IHBA-ATSMC in anti-swing positioning, smooth startup, robustness enhancement, and parameter tuning.