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Erschienen in:
2005 | OriginalPaper | Buchkapitel
GA-Based Composite Sliding Mode Fuzzy Control for Double-Pendulum-Type Overhead Crane
verfasst von : Diantong Liu, Weiping Guo, Jianqiang Yi
Erschienen in: Fuzzy Systems and Knowledge Discovery
Verlag: Springer Berlin Heidelberg
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A genetic algorithm (GA) based composite sliding mode fuzzy control (CSMFC) approach is proposed for the double-pendulum-type overhead crane (DPTOC). The overhead crane exhibits double-pendulum dynamics because of the large-mass hook and the payload volume. Its nonlinear dynamic model is built using Lagrangian method. Through defining a composite sliding mode function, the proposed control approach greatly reduces the complexity to design a controller for complex underactuated systems. The control system stability is analyzed for DPTOC. Real-valued GA is used to optimize the parameters of CSMFC to improve the performance of control system. Simulation results illustrate the complexity of DPTOC and the validity of proposed control algorithm.