|Fuzzy Sliding Mode Control of Container Cranes
Quang Hieu Ngo*, Ngo Phong Nguyen, Chi Ngon Nguyen, Thanh Hung Tran, and Keum-Shik Hong
International Journal of Control, Automation, and Systems, vol. 13, no. 2, pp.419-425, 2015
Abstract : 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.
Container cranes, fuzzy sliding mode, sway control, tunable gains, trolley dynamics.
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