Direct adaptive fuzzy sliding mode PI tracking control of a three-dimensional overhead crane

In this paper, a novel direct adaptive fuzzy sliding mode proportional integral (PI) tracking control of a three-dimensional overhead crane which is modeled by five highly nonlinear second order ordinary differential equations is proposed to achieve fast and robust position regulation and anti-swing control. Due to universal approximation theorem, fuzzy control provides nonlinear controller, i.e., fuzzy logic controllers, to perform the unknown nonlinear control actions. Simultaneously, sliding mode control (SMC) used to handle the system uncertainties and external disturbances. Simulation performed using a scaled 3-D mathematical model of the crane confirm that the proposed control scheme can keep the horizontal position of the payload invariable and suppress the swing of the payload effectively during the hoisting or lowing process.