Adaptive fuzzy backstepping hierarchical sliding mode control for six degrees of freedom overhead crane

被引:0
作者
Hai Xuan Le
Thai Dinh Kim
Quoc-Dong Hoang
Minh Van Pham
Thien Van Nguyen
Hung Van Pham
Dung Manh Do
机构
[1] Vietnam National University,International School
[2] Vietnam Maritime University,Institute of Mechanical Engineering
[3] Hanoi University of Industry,Faculty of Electrical Engineering
[4] Hanoi University of Industry,Faculty of Information Technology
[5] Hanoi University of Science and Technology,School of Electrical Engineering
来源
International Journal of Dynamics and Control | 2022年 / 10卷
关键词
Overhead crane; Backstepping; Hierarchical sliding mode control; Fuzzy logic system;
D O I
暂无
中图分类号
学科分类号
摘要
Most overhead crane control studies attempt to position the payload accurately and minimize its horizontal swing without considering axial oscillation. The axial vibration caused by the lifting rope’s elasticity significantly affects the actuators’ reliability and the system’s overall performance over time. In this paper, a novel overhead crane model is developed to describe an actual crane’s behavior more closely by further considering the effect of axial payload oscillation. Furthermore, an adaptive fuzzy backstepping hierarchical sliding mode controller is designed to guarantee precise movements and reduce vibrations of payload in both horizontal and vertical directions under complex conditions, such as unknown external disturbances and cable elasticity. Three inputs consisting of the trolley-moving force, the bridge-pulling force, and the payload-hoisting torque stabilize six outputs simultaneously, including trolley motion, bridge travel, hoisting drum rotation, two payload swings, and axial payload oscillation. The controller is first designed using the backstepping hierarchical sliding mode control strategy. This controller’s parameters are then adjusted online using a fuzzy logic system, ensuring system states’ stability on the sliding surface. The system’s stability is analyzed and proved mathematically by LaSalle’s principle. Several simulations on MATLAB/Simulink have been conducted with constant or trapezoidal reference signals, with and without external disturbances. These simulation results show the proposed method’s effectiveness, such as motion precision, minor load swings, and minimal axial oscillation.
引用
收藏
页码:2174 / 2192
页数:18
相关论文
共 50 条
  • [21] Speed Control of Switched Reluctance Motor using Adaptive Fuzzy Backstepping Sliding Mode Control
    Hoang, Nha Phi
    Van, Hung Pham
    INTERNATIONAL JOURNAL OF ELECTRICAL AND COMPUTER ENGINEERING SYSTEMS, 2024, 15 (05) : 459 - 467
  • [22] Adaptive backstepping sliding mode control with fuzzy monitoring strategy for a kind of mechanical system
    Song, Zhankui
    Sun, Kaibiao
    ISA TRANSACTIONS, 2014, 53 (01) : 125 - 133
  • [23] Fuzzy control of an overhead crane
    Perrard, P
    Rozinoer, J
    ACTIVE CONTROL IN MECHANICAL ENGINEERING, 2000, : 95 - 107
  • [24] Integral sliding mode antisway control of an underactuated overhead crane system
    Defoort, M.
    Maneeratanaporn, J.
    Murakami, T.
    MECATRONICS REM 2012, 2012, : 71 - 77
  • [25] Adaptive Twisting Sliding Mode Control for Overhead Cranes
    Xu, Weimin
    Xu, Yue
    Zheng, Xiang
    2015 IEEE INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (CYBER), 2015, : 1379 - 1384
  • [26] Adaptive Dynamic Sliding Mode Control for Overhead Cranes
    Xu Weimin
    Zheng Xiang
    Liu Yuqiang
    Zhang Mengjie
    Luo Yuyang
    2015 34TH CHINESE CONTROL CONFERENCE (CCC), 2015, : 3287 - 3292
  • [27] Integrated guidance and control backstepping design of blended control missile based on adaptive fuzzy sliding mode control
    Wang, Zhao-Lei
    Wang, Qing
    Ran, Mao-Peng
    Dong, Chao-Yang
    Binggong Xuebao/Acta Armamentarii, 2015, 36 (01): : 78 - 86
  • [28] Hierarchical fuzzy sliding-mode control
    Mon, YJ
    Lin, CM
    PROCEEDINGS OF THE 2002 IEEE INTERNATIONAL CONFERENCE ON FUZZY SYSTEMS, VOL 1 & 2, 2002, : 656 - 661
  • [29] Parallel neural network combined with sliding mode control in overhead crane control system
    Lee, Lun-Hui
    Huang, Pei-Hsiang
    Shih, Yu-Cheng
    Chiang, Tung-Chien
    Chang, Cheng-Yuan
    JOURNAL OF VIBRATION AND CONTROL, 2014, 20 (05) : 749 - 760
  • [30] Adaptive backstepping sliding mode control for feedforward uncertain systems
    Koshkouei, Ali J.
    Burnham, Keith J.
    INTERNATIONAL JOURNAL OF SYSTEMS SCIENCE, 2011, 42 (12) : 1935 - 1946