Swing-free transporting of two-dimensional overhead crane using sliding mode fuzzy control

An adaptive sliding mode fuzzy control approach is proposed for a two-dimensional overhead crane. System linearization transforms the two-dimensional system to two independent systems: X-direction transport system and Y-direction transport system. Both the two systems are with the same dynamic model and both include two subsystems: positioning subsystem and anti-swing subsystem. A sliding mode fuzzy control approach is proposed for both X-direction transport and Y-direction transport, and it combines SMC´s robustness and FLC´s independence of system model. According to the influences on system dynamic performance, both of the slope of sliding mode surface and the relationship between subsystems are automatically tuned by real time fuzzy inference respectively. The effectiveness of the proposed control is demonstrated by experiments with a two-dimensional prototype overhead crane.