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The paper presents a PID – Fuzzy Sliding Mode control (PID-FSMC) algorithm for overhead crane system to guarantee anti-sway trajectory tracking of the nominal plant. The proposed PID-FSMC law guarantees the closed-loop asymptotical stability as well as improve S the transient response of the load sway dynamics when the trolley is moving. | Journal of Science and Technology 55 (1) (2017) 116-127 DOI: 10.15625/0866-708X/55/1/7920 ANTI-SWAY TRACKING CONTROL OF OVERHEAD CRANE SYSTEM BASED ON PID AND FUZZY SLIDING MODE CONTROL Le Xuan Hai1, Thai Huu Nguyen2, *, Tran Gia Khanh3, Nguyen Tien Thanh1, Bui Trong Duong1, Phan Xuan Minh1 1 2 Hanoi University of Science and Technology, No 1, Dai Co Viet Street, Hai Ba Trung District, Ha Noi City Vinh University of Technology and Education, Hung Dung Ward, Vinh City, Nghe An Province 3 Nam Dinh University of Technology and Education, Phu Nghia Street, Loc Ha Ward, Nam Dinh City, Nam Dinh Province * Email: thainguyenktv@yahoo.com Received: 17 March 2016; Accepted for publication: 26 October 2016 ABSTRACT The paper presents a PID – Fuzzy Sliding Mode control (PID-FSMC) algorithm for overhead crane system to guarantee anti-sway trajectory tracking of the nominal plant. The proposed PID-FSMC law guarantees the closed-loop asymptotical stability as well as improve S the transient response of the load sway dynamics when the trolley is moving. The simulation results confirm the propriety of the proposed controller and show great promise of the controller application in practice. Besides, to confirm the controller’s application ability, we installed some propositional algorithms into a real system in laboratory. Keywords: anti-sway tracking, PID control, sliding mode control, overhead crane. 1. PROBLEM STATEMENT The problem of anti-sway tracking control for overhead crane system is a common and quite sophisticated one. Therefore, it always attracts the interest of researcher community. In fact, the overhead crane is an underactuated system, i.e., the system has a lower number of actuators than degrees of freedom. This underactuation property leads to the swing of the load and the movement of the trolley. On the other hand, the load dynamics that is out of control may cause insecurity problems in system operation. The problem of anti-sway tracking control .
