This paper proposes a fuzzy adaptive second order sliding mode controller for 2D overhead crane model to improve the quality of position tracking, anti-swing in case existence of external disturbances. The sliding surface parameters are adjusted by a fuzzy logic system to change the sliding surface in order to track faster and make the payload oscillation smaller. The simulation results show that the system quality is improved and the applicability of the proposed controller in industrial practice. | Improving of control overhead crane quality based on the fuzzy adaptive Kỹ thuật điều khiển & Điện tử IMPROVING OF CONTROL OVERHEAD CRANE QUALITY BASED ON THE FUZZY ADAPTIVE SECOND ORDER SLIDING MODE CONTROL Le Xuan Hai, Quach Thai Quyen, Le Van Hung, Nguyen Van Thai, Vu Thi Thuy Nga*, Phan Xuan Minh Abstract: This paper proposes a fuzzy adaptive second order sliding mode controller for 2D overhead crane model to improve the quality of position tracking, anti-swing in case existence of external disturbances. The sliding surface parameters are adjusted by a fuzzy logic system to change the sliding surface in order to track faster and make the payload oscillation smaller. The simulation results show that the system quality is improved and the applicability of the proposed controller in industrial practice. Keywords: SOSMC, FASODMC, MIMO, HOSMC. 1. INTRODUCTION Crane is widely used to transport heavy load and hazardous materials in shipyards, factories and many kinds of industry. Therefore, researching on improving the control overhead crane quality is always implemented and developed by many researchers. Due to effect of the environment with unknown disturbances, sliding mode control on crane has been extremely attractive in recent years. High order control system are highly recommended and improved to increase the quality of controlling overhead crane system [1,4]. To solve the root problems for improving overhead crane system quality, both classic control and intelligent control are combined which is considered and researched [2,3,5]. In this paper, a fuzzy adaptive second order sliding mode control is proposed to solve effectively the problem for overhead crane system. This control structure contains two sliding mode controller which have a parallel connection into a second order surface to control position and reduce sway angle of load at the same time. In order to adjust the parameters of sliding .
