Double-pendulum-type overhead crane dynamics and its adaptive sliding mode fuzzy control

Author

Liu, Dian-tong ; Guo, Wei-Ping ; Yi, Jian-qiang ; Zhao, Dong-Bin

Author_Institution

Sch. of Comput. Sci. & Technol., Yantai Univ., Shandong, China

Volume

1

fYear

2004

fDate

26-29 Aug. 2004

Firstpage

423

Abstract

The overhead crane exhibits the double-pendulum dynamics because of the large-mass hook. The nonlinear dynamic model of the double-pendulum-type overhead crane is built using the Lagrangian method. Several properties of the system model such as the underactuated property, the passivity, and its two nature frequencies are analyzed. An adaptive sliding mode fuzzy control method is proposed for double-pendulum-type overhead crane. The method greatly reduces the rules of regular fuzzy logic controller and well utilizes some adaptive methods of sliding mode controller. Simulation results illustrate the complex system dynamics of the double-pendulum-type overhead crane and the proposed control algorithm.

Keywords

adaptive control; cranes; fuzzy control; nonlinear control systems; variable structure systems; Lagrangian method; adaptive sliding mode fuzzy control; double-pendulum-type overhead crane dynamic; fuzzy logic controller; nonlinear dynamic model; Adaptive control; Algorithm design and analysis; Cranes; Fuzzy control; Fuzzy logic; Neural networks; Nonlinear dynamical systems; Payloads; Programmable control; Sliding mode control;

fLanguage

English

Publisher

ieee

Conference_Titel

Machine Learning and Cybernetics, 2004. Proceedings of 2004 International Conference on

Print_ISBN

0-7803-8403-2

Type

conf

DOI

10.1109/ICMLC.2004.1380723

Filename

1380723