NDLI: Adaptive fuzzy nonlinear anti-sway trajectory tracking control of uncertain overhead cranes with high-speed load hoisting motion

Content Provider	IEEE Xplore Digital Library
Author	Mun-Soo Park Dongkyoung Chwa Suk-Kyo Hong
Copyright Year	2007
Description	Author affiliation: Ajou Univ., Suwon (Mun-Soo Park; Dongkyoung Chwa; Suk-Kyo Hong)
Abstract	In the present paper, an adaptive fuzzy nonlinear control (AFNC) law is proposed for the anti-sway trajectory tracking of uncertain overhead cranes with high-speed hoisting motion. In the proposed AFNC, fuzzy systems are utilized in two different ways. One is for fuzzy uncertainty observer (FUO) and the other is for fuzzy nonlinear control (FNC). Two FUOs are employed to cope with system uncertainties in an adaptive manner, while an FNC is developed to reduce the high-frequency chattering effect of variable structure control. Through the stability analysis and numerical simulations, it is shown that the proposed AFNC guarantees robust asymptotic stability of trajectory tracking error dynamics in trolley and hoisting motion as well as in sway dynamics, against not only the coupling effect of hoisting velocity and hoisting rope length but also system uncertainties such as system parameter variations, external wind disturbance, and unknown actuator nonlinaerities.
Starting Page	2886
Ending Page	2891
File Size	1569669
Page Count	6
File Format	PDF
ISBN	9788995003862
DOI	10.1109/ICCAS.2007.4406862
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2007-10-17
Publisher Place	South Korea
Access Restriction	Subscribed
Rights Holder	ICASE
Subject Keyword	Cranes Uncertainty Tracking Adaptive fuzzy nonlinear control Control systems overhead crane Adaptive control Programmable control Fuzzy control anti-sway trajectory tracking Trajectory fuzzy uncertainty observer Motion control Fuzzy systems
Content Type	Text
Resource Type	Article

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