An Adaptive Fuzzy-Sliding Mode Controller for The Bridge Crane

Trinh Luong Mien
2019 Advances in Science, Technology and Engineering Systems  
This article presents a bridge crane nonlinear dynamic model in 2-dimensional space, and then given a novel adaptive fuzzy-sliding mode controller based on combining sliding mode control with fuzzy logic and Lyapunov function. Firstly, the article proposes an intermediate variable to link signal between two slide surfaces, related to trolley movement and payload swing. Then the fuzzy controller, compensative controller and parameter adaptive update law for the bridge crane are defined. The
more » ... totic stability of the proposed bridge crane control system is proven based on Lyapunov stability theory. Simulation results show that the adaptive fuzzy-sliding mode controller ensures the trolley follows the input reference with the short settling time, eliminating steady error, and antipayload swing, anti-disturbance.
doi:10.25046/aj040322 fatcat:i6f4r3gqnnhwfehclz7ezh4tfu