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Modified Fuzzy Variable Structure Control Method to the Crane System with Control Deadzone Problem

Department of Electrical Engineering, Chung Yuan Christian University, Jhongli, Taiwan 320, Republic of China, cychang{at}dec.ee.cycu.edu.tw

Kou-Cheng Hsu

Department of Electronic Engineering, Fu Jen Catholic University, Taipei County, Taiwan 242, Republic of China

Kou-Hung Chiang

Department of Electronic Engineering, Fu Jen Catholic University, Taipei County, Taiwan 242, Republic of China

Guo-En Huang

Department of Electrical Engineering, Chung Yuan Christian University, Jhongli, Taiwan 320, Republic of China

This paper proposes a modified fuzzy based variable structure control to achieve the position and swing control of the 3-D nonlinear overhead crane system. One derives the control power according to the variable structure controller and feedback signals-trolley position and payload swing angle. Compensating algorithm for the deadzone problem is provided in this paper and the heuristic sliding factors are also tuned automatically by the proposed fuzzy method to enrich the system performance without plant information of crane. Several experiments for the position and swing control of the nonlinear overhead crane system demonstrate the effectiveness of the proposed scheme.

Key Words: Fuzzy • variable structure control • 3-D overhead crane • nonlinear • deadzone

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