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

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.