Control of Overhead Crane System Using Adaptive Model-Free and Adaptive Fuzzy Sliding Mode Controllers
Control of Overhead Crane System Using Adaptive Model-Free and Adaptive Fuzzy Sliding Mode Controllers
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DOI：
10.1007/s40313-014-0152-4
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发表时间：
2014-09
期刊：
影响因子：
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通讯作者：
S. Pezeshki;M. Badamchizadeh;A. Ghiasi;S. Ghaemi
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文献类型：
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作者：
S. Pezeshki;M. Badamchizadeh;A. Ghiasi;S. Ghaemi
在本研究中，一个无模型自适应控制器（MFAC）使用反馈线性化和自适应模糊滑模控制器（AFSMC）使用模糊逼近控制欠驱动桥式起重机系统。两种控制器都使用小车位置和负载摆动角度信息来控制过程。所提出的MFAC的创新是基于利用上一级的适当控制信号值来确定新级的控制信号值，该新级的控制信号值取决于这些级中的位置误差。在AFSMC中，滑模控制采用自适应Sugeno模糊算法来更新未知函数的估计，抵消桥式起重机动力学模型中未知非线性项的影响。外部干扰，如风和命中也被认为是验证所提出的无模型方法的效率。
In this study, a model-free adaptive controller (MFAC) using feedback linearization and an adaptive fuzzy sliding mode controller (AFSMC) using fuzzy approximation are employed to control an underactuated overhead crane system. Both controllers use trolley position and load swing angle information for controlling process. Innovation of the proposed MFAC is based on utilizing the appropriate control signal value of last level for determining the control signal value of new level which depends on position error in these levels. In AFSMC, sliding mode scheme is exploited adaptive Sugeno fuzzy algorithm to update estimation of unknown function and counteract the effect of unknown nonlinear terms of overhead crane’s dynamic model. External disturbances such as the wind and the hit are also considered to verify the efficiency of the proposed model-free methods.