Application of Fuzzy Moving Sliding Surface Approach for Container Cranes
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ISSN:1598-6446 eISSN:2005-4092 http://www.springer.com/12555
Application of Fuzzy Moving Sliding Surface Approach for Container Cranes Quang Hieu Ngo*, Ngo Phong Nguyen, Quoc Bao Truong, and Gyoung-Hahn Kim Abstract: In this paper, we consider the fuzzy moving sliding surface anti-sway control problem for container cranes. We first introduce the dynamic model of container cranes. Then, we develop the coupled sliding surface which ensures the asymptotic stability of the closed-loop system. Based on the proposed sliding surface, we propose the continuous sliding mode control law which guarantees the reachability of the sliding variable to zero in finite time. Hence, the proposed controller first guarantees the finite-time convergence to the sliding surface and then achieves the stability of the closed-loop system in the predefined sliding surface. Besides, in order to obtain the effective gains for the proposed sliding variable, the fuzzy logic system is employed. To illustrate the efficiency of the proposed control law, simulation results are provided. Keywords: Anti-sway control, container cranes, fuzzy moving sliding mode control, fuzzy moving sliding surface, sliding mode control.
1.
INTRODUCTION
During the past decades, great attention has been paid to the anti-sway control problem of container crane systems from both industry and academia areas [1–3]. In realworld applications, container cranes have been playing as an important system for the transport of heavy cargoes to the desired position within a given interval time. From the viewpoint of academia, the container crane system is a complex coupled nonlinear mechanical system, and moreover, it is an underactuated system, which has fewer independent control inputs than its degrees of freedom [4]. The main control objective is to effectively transfer containers from one position to another, which is achieved by simultaneously controlling the actuated trolley position and the unactuated payload swing angle [1]. We should mention that the lack of available control inputs induces much difficulty for both controller design and stability analysis [1,4]. To achieve the control task of container crane systems, numerous control algorithms have been applied, which can be classified as input shaping control [5–8], linear control [9–12], adaptive control [13–17], expert-systemsbased intelligent control [18–20] and sliding mode control [21–28]. When the rope length remains as a constant during the
operation, the input shaping control method has been considered as an effective anti-sway control method [5–8]. The main idea behind this control approach is that a command signal as an input signal has been modified and implemented in real time, where the modification process has been carried out upon the system natural frequency [21]. However, in the presence of system uncertainties and external disturbances, the input shaping control cannot provide the desired anti-sway control performance [21]. Besides, in order to simplify the problem formulation as well as to reduce th
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