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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.

Keyword : Container cranes, fuzzy sliding mode, sway control, tunable gains, trolley dynamics.

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