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Application of Fuzzy Moving Sliding Surface Approach for Container Cranes

Quang Hieu Ngo*, Ngo Phong Nguyen, Quoc Bao Truong, and Gyoung-Hahn Kim
International Journal of Control, Automation, and Systems, vol. 19, no. 2, pp.1133-1138, 2021

Abstract : In this paper, we consider the fuzzy moving sliding surface anti-sway control problem for container cranes. We first introduce the dynamic model of container cranes. Then, we develop the coupled sliding surface which ensures the asymptotic stability of the closed-loop system. Based on the proposed sliding surface, we propose the continuous sliding mode control law which guarantees the reachability of the sliding variable to zero in finite time. Hence, the proposed controller first guarantees the finite-time convergence to the sliding surface and then achieves the stability of the closed-loop system in the predefined sliding surface. Besides, in order to obtain the effective gains for the proposed sliding variable, the fuzzy logic system is employed. To illustrate the efficiency of the proposed control law, simulation results are provided.

Keyword : Anti-sway control, container cranes, fuzzy moving sliding mode control, fuzzy moving sliding surface, sliding mode control.

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