Intelligent Sliding Mode Control of an Overhead Container Crane

Abstract

In this contribution, an intelligent controller is proposed for an underactuated overhead container crane subject to both parameter uncertainties and unmodeled dynamics. The adopted approach is based on the sliding mode method to confer robustness against modeling inaccuracies and external disturbances. Additionally, an adaptive fuzzy inference system is embedded within the control law to improve set-point regulation and trajectory tracking. In order to evaluate the performance of the proposed intelligent scheme, the control law was implemented and tested in a 1:6 scale experimental container crane, available at the Institute of Mechanics and Ocean Engineering at Hamburg University of Technology. The obtained experimental results demonstrate not only the feasibility of the proposed scheme, but also its improved efficacy for both stabilization and trajectory tracking problems.