Anti-sway tracking control of overhead crane system based on pid and fuzzy sliding mode control

Vietnam Journal of Science and Technology - Tập 55 Số 1 - Trang 116-127 - 2017
Le Xuan Hai1, Thai Huu Nguyen2, Tran Gia Khanh3, Nguyen Tien Thanh1, Bui Trong Duong1, Phan Xuan Minh1
1Hanoi University of Science and Technology, No 1, Dai Co Viet Street, Hai Ba Trung District, Ha Noi City, Viet Nam
2Vinh University of Technology and Education, Hung Dung Ward, Vinh City, Nghe An Province, Viet Nam
3Nam Dinh University of Technology and Education, Phu Nghia Street, Loc Ha Ward, Nam Dinh City, Nam Dinh Province, Viet Nam

Tóm tắt

The paper presents a PID – Fuzzy Sliding Mode control (PID-FSMC) algorithm for overhead crane system to guarantee anti-sway trajectory tracking of the nominal plant. The proposed PID-FSMC law guarantees the closed-loop asymptotical stability as well as improveS the transient response of the load sway dynamics when the trolley is moving. The simulation results confirm the propriety of the proposed controller and show great promise of the controller application in practice.

Từ khóa

#anti-sway tracking #PID control #sliding mode control #overhead crane

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