Tracking control for the underactuated overhead crane system based on Dynamic Equilibrium State theory

With the Dynamic Equilibrium State (DES) theory, a robust adaptive control method is presented to realize the position tracking and anti-swing for the overhead crane system in presence of parameter variations and external disturbances. First, the basic idea of the DES theory is introduced. Then, the ideal DES reference trajectories are planned for the position of the trolley and the angle of the load. By using the cascade sliding mode and nonlinear-parameterized fuzzy logic systems, a robust adaptive fuzzy controller is designed to track the prescribed trajectories. The simulation results are included to indicate the effectiveness and robustness of the proposed controller.