Abstract
This work proposes model-free controller to deal with problems of load sway phenomenon in a nonlinear tower crane system with unknown components. Because of the swing effect, as well as the indispensable presence of uncertainties, it is really challenging to design an effective model-based controller to ensure tracking performance. Therefore, the proposed controller is constructed based on the adaptive fuzzy approach with the robust Sliding Mode Control (SMC) technique to maneuver this system to reference trajectory and simultaneously suppress payload swing angles. The Lyapunov’s stability theory is utilized to demonstrate the system’s stability and convergence. The simulation trajectory tracking results show validity and robustness of combined control approach.
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This research is funded by Hanoi University of Science and Technology (HUST) under project number T2021-TT-002.
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Nguyen, N.T., Nguyen, VA., Nguyen, M.C., Nguyen, D.H., Nguyen, T.L. (2022). A Fuzzy Approximation Supported Model-Free Tracking Control Design for Tower Crane Systems. In: Anh, N.L., Koh, SJ., Nguyen, T.D.L., Lloret, J., Nguyen, T.T. (eds) Intelligent Systems and Networks. Lecture Notes in Networks and Systems, vol 471. Springer, Singapore. https://doi.org/10.1007/978-981-19-3394-3_8
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DOI: https://doi.org/10.1007/978-981-19-3394-3_8
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