Adaptive sliding mode fuzzy control for a two-dimensional overhead crane

被引:216
作者
Liu, DT [1 ]
Yi, JQ
Zhao, DB
Wang, W
机构
[1] Yantai Univ, Inst Comp Sci & Technol, Yantai 264005, Shandong Prov, Peoples R China
[2] Chinese Acad Sci, Inst Automat, Key Lab Complex Syst & Intelligence Sci, Beijing 100080, Peoples R China
关键词
overhead crane; underactuated system; sliding mode control; fuzzy control; adaptive tuning;
D O I
10.1016/j.mechatronics.2004.11.004
中图分类号
TP [自动化技术、计算机技术];
学科分类号
0812 ;
摘要
An adaptive sliding mode fuzzy control approach is proposed for a two-dimensional overhead crane. System linearization transforms the two-dimensional system to two independent systems: X-direction transport system and Y-direction transport system. Both the two systems are with the same dynamic model and include two subsystems: positioning subsystem and anti-swing subsystem. Combining SMC's robustness and FLC's independence of system model, a sliding mode fuzzy control approach is proposed for both X-direction transport and Y-direction transport. According to the influences on system dynamic performance, both the slope of sliding mode surface and the coordination between the two subsystems are automatically tuned by real time fuzzy inference respectively. The effectiveness of the proposed control approach is demonstrated by experiments with a two-dimensional prototype overhead crane. (c) 2005 Elsevier Ltd. All rights reserved.
引用
收藏
页码:505 / 522
页数:18
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