外文翻译Adaptive sliding mode fuzzy control for a

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外文翻译Adaptive sliding mode fuzzy control for a
two-dimensional overhead crane
Diantong Liu a，
， Jianqiang Yi
b
， Dongbin Zhao b
， Wei Wang b
a
Institute of Computer Science and Technology， Yantai University， Shandong Province 264005， China
b
Key Laboratory of Complex Systems and Intelligence Science， Institute of Automation，
Chinese Academy of Sciences， Beijing 100080， China
Received 16 September 2003; accepted 30 November 2004
Abstract
An adaptive sliding mode fuzzy control approach is proposed for a two-dimensional over-
head crane. System linearization transforms the two-dimensional system to two independent
systems: X-direction transport system and Y-direction transport system. Both the two systems
are with the same dynamic model and include two subsystems: positioning subsystem and anti-
swing subsystem. Combining SMC
s robustness and FLC
s independence of system model， a
sliding mode fuzzy control approach is proposed for both X-direction transport and Y-direc-
tion transport. According to the influences on system dynamic performance， both the slope of
sliding mode surface and the coordination between the two subsystems are automatically
tuned by real time fuzzy inference respectively. The effectiveness of the proposed control
approach is demonstrated by experiments with a two-dimensional prototype overhead crane.

2005 Elsevier Ltd. All rights reserved.
Keywords: Overhead crane; Underactuated system; Sliding mode control; Fuzzy control; Adaptive tuning
0957-4158/$ - see front matter
2005 Elsevier Ltd. All rights reserved.

Corresponding author. Tel.: 86 535 6904991.
E-mail addresses: diantong.liu###163.com， diantong.liu###mail.ia.ac.cn (D. Liu).