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Fuzzy sliding mode control of container cranes

  • Quang Hieu Ngo
  • Ngo Phong Nguyen
  • Chi Ngon Nguyen
  • Thanh Hung Tran
  • Keum-Shik Hong
Regular Papers Control Applications

Abstract

A fuzzy sliding mode control strategy for container cranes is discussed in this paper. In which, the sway motion of a payload is integrated into the trolley dynamics in a sliding surface. This scheme guarantees the asymptotic stability of the closed-loop system. Moreover, the control gain, which is the most important component, is a flexible gain and is tuned based on fuzzy laws to avoid chattering phenomena of the system. The performance of the closed-loop system has been simulated using MATLAB. In addition, to illustrate the efficiency of the proposed control law, experimental results are also provided.

Keywords

Container cranes fuzzy sliding mode sway control tunable gains trolley dynamics 

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Copyright information

© Institute of Control, Robotics and Systems and The Korean Institute of Electrical Engineers and Springer-Verlag Berlin Heidelberg 2015

Authors and Affiliations

  • Quang Hieu Ngo
    • 1
  • Ngo Phong Nguyen
    • 2
  • Chi Ngon Nguyen
    • 2
  • Thanh Hung Tran
    • 2
  • Keum-Shik Hong
    • 3
  1. 1.Department of Mechanical EngineeringCan Tho UniversityNinh Kieu District, Can Tho CityVietnam
  2. 2.Department of Automation TechnologyCan Tho UniversityNinh Kieu District, Can Tho CityVietnam
  3. 3.School of Mechanical EngineeringPusan National UniversityGeum jeong-gu, BusanKorea

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