scholarly journals ANTI-SWAY TRACKING CONTROL OF OVERHEAD CRANE SYSTEM BASED ON PID AND FUZZY SLIDING MODE CONTROL

2017 ◽  
Vol 55 (1) ◽  
pp. 116 ◽  
Author(s):  
Le Xuan Hai ◽  
Thai Huu Nguyen ◽  
Tran Gia Khanh ◽  
Nguyen Tien Thanh ◽  
Bui Trong Duong ◽  
...  
Keyword(s):  
Sliding Mode Control ◽  
Tracking Control ◽  
Closed Loop ◽  
Sliding Mode ◽  
Great Promise ◽  
Overhead Crane ◽  
Fuzzy Sliding Mode Control ◽  
Mode Control ◽  
Fuzzy Sliding Mode ◽  
Simulation Results

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.

scholarly journals Adaptive Fuzzy Sliding Mode Control of Omnidirectional Mobile Robots with Prescribed Performance

Processes ◽  
2021 ◽  
Vol 9 (12) ◽  
pp. 2211
Author(s):  
Jeng-Tze Huang ◽  
Chun-Kai Chiu
Keyword(s):  
Sliding Mode Control ◽  
Mobile Robots ◽  
Closed Loop ◽  
Sliding Mode ◽  
Fuzzy Sliding Mode Control ◽  
Prescribed Performance ◽  
Adaptive Fuzzy ◽  
Mode Control ◽  
Adaptive Fuzzy Sliding Mode ◽  
Fuzzy Sliding Mode

Adaptive fuzzy sliding-mode control design for omnidirectional mobile robots with prescribed performance is presented in this work. First, an error transformation which transforms the constrained variable into an unconstrained one is carried out. Next, a fuzzy logic system (FLS) for approximating the unknown dynamics is constructed. Based on such a model, a nominal adaptive linearizing controller incorporating a serial-parallel model (SPM)-based composite algorithm, which improves the tracking performance of the overall closed-loop system, is synthesized. To solve the so-called “loss of controllability” problem, a smooth-switching algorithm is embedded which hands over the control authority to an auxiliary sliding-mode controller until the danger is safely bypassed. The proposed design ensures the semi-globally uniformly ultimately bounded stability of the closed-loop signals. Simulation works demonstrating the validity of the proposed design are presented in the final.

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