Direct adaptive fuzzy sliding mode PI tracking control of a three-dimensional overhead crane

2015 ◽  
Author(s):  
Tsung-Chih Lin ◽  
Jian-Lin Yeh ◽  
Tseng-Chuan Hung ◽  
Chia-Hao Kuo
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Overhead Crane ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

Direct Adaptive Fuzzy Moving Sliding Mode Proportional Integral Tracking Control of a Three-Dimensional Overhead Crane

2016 ◽  
Vol 138 (10) ◽  
Author(s):  
Tsung-Chih Lin ◽  
Yu-Chen Lin ◽  
Majid Moradi Zirkohi ◽  
Hsi-Chun Huang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Overhead Crane ◽  
Nonlinear Controller ◽  
Proportional Integral ◽  
Adaptive Fuzzy ◽  
Highly Nonlinear ◽  
Position Regulation ◽  
Robust Regulation

In this paper, a novel direct adaptive fuzzy moving sliding mode proportional integral (PI) tracking control of a three-dimensional (3D) overhead crane which is modeled by five highly nonlinear second-order ordinary differential equations is proposed. The fast and robust position regulation and antiswing control can be achieved based on the proposed approach. Due to universal approximation theorem, fuzzy control provides nonlinear controller, i.e., fuzzy logic controllers, to perform the unknown nonlinear control actions. Simultaneously, in order to achieve fast and robust regulation and to enhance robustness in the presence of disturbance and parameter variations, moving sliding mode control (SMC) is introduced to tradeoff between reaching phase and sliding phase. Hence, the sliding surface is moved by changing the magnitude of the slope by adaptive law and varying the intercept by tuning algorithm. Simulations performed using a scaled 3D mathematical model of the crane confirm that the proposed control scheme can keep the horizontal position of the payload invariable and suppress the swing of the payload effectively during the hoisting or lowing process.

scholarly journals Adaptive Fuzzy Sliding Mode and Robust Tracking Control for Manipulators with Uncertain Dynamics

Complexity ◽  
2020 ◽  
Vol 2020 ◽  
pp. 1-9
Author(s):  
Sanxiu Wang
Keyword(s):  
Sliding Mode Control ◽  
Trajectory Tracking ◽  
Tracking Control ◽  
Sliding Mode ◽  
External Disturbance ◽  
Robotic Manipulator ◽  
Trajectory Tracking Control ◽  
Adaptive Fuzzy ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

In response to the issue of the trajectory tracking control problem of manipulators with uncertain parameters and external disturbance, an adaptive fuzzy sliding mode robust control algorithm is proposed. Sliding mode control (SMC) is adopted to perform robotic manipulator trajectory tracking control. Then, a fuzzy logic system is used for adaptive adjustment of switching gain of the SMC and to reduce the buffeting problem. Next, compensation is made by using the robust controller in consideration of the impacts of unmodeled dynamics and external disturbance. The simulation experiment on a two axes robotic manipulator shows that, with the proposed control method, the sliding mode control input signal is kept smooth, and the manipulator has high trajectory tracking precision.

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