期刊
INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS
卷 13, 期 2, 页码 419-425出版社
INST CONTROL ROBOTICS & SYSTEMS, KOREAN INST ELECTRICAL ENGINEERS
DOI: 10.1007/s12555-014-0150-0
关键词
Container cranes; fuzzy sliding mode; sway control; tunable gains; trolley dynamics
资金
- Vietnam National Foundation for Science and Technology Development (NAFOSTED) [107.04-2013.28]
A fuzzy sliding mode control strategy for container cranes is discussed in this paper. In which, the sway motion of a payload is integrated into the trolley dynamics in a sliding surface. This scheme guarantees the asymptotic stability of the closed-loop system. Moreover, the control gain, which is the most important component, is a flexible gain and is tuned based on fuzzy laws to avoid chattering phenomena of the system. The performance of the closed-loop system has been simulated using MATLAB. In addition, to illustrate the efficiency of the proposed control law, experimental results are also provided.
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