Neural based variable structure control to a 3-D overhead crane system

A neural based variable structure controller (NVSC) is presented for a three dimensional (3-D) overhead crane system. The proposed NVSC scheme combines the principles of neural networks and variable structure systems to tune the free parameters and simplifies the design procedures. By efficiently computing of the control signals, this work drives the cart quickly to the assigned position; meanwhile, restrains the payload swing well. The merits include the robustness and model-free properties of the VSC and neural network. Simulations performed using mathematic model of the crane confirm the effectiveness of the proposed method.