An Enhanced Adaptive Sliding Mode Fuzzy Control for Positioning and Anti-Swing Control of the Overhead Crane System

An enhanced adaptive sliding mode fuzzy approach is applied to control the position and load swing of a 3D overhead crane system. The merits of this method include the robustness and model free properties of the sliding mode and fuzzy logic controllers, respectively. An adaptable slope of sliding surface is presented and the chattering phenomenon of sliding mode control is also discussed to enhance the control performance. Furthermore, this paper provides a compensating algorithm to the control deadzone of overhead crane system. At last, several simulation results demonstrate the effectiveness.