An Efficient Adaptive Fuzzy Hierarchical Sliding Mode Control Strategy for 6 Degrees of Freedom Overhead Crane

The paper proposes a new approach to efficiently control three-dimensional overhead crane with 6 degrees of freedom (DoF). Most the works proposing law for gantry assume that it has five output variables, including three positions trolley, bridge, and pulley two swing angles hoisting cable. In fact, elasticity cable, which causes oscillation in cable direction, is not fully incorporated into model yet. Therefore, our work considers six under-actuated outputs exist system. To design an efficient controller DoF crane, first employs hierarchical sliding mode approach, only guarantees stability but also minimizes sway when transports payload desired location. Moreover, unknown uncertain parameters system caused by its actuator nonlinearity external disturbances are adaptively estimated inferred utilizing fuzzy inference rule mechanism, results operations real time. More importantly, stabilization controlled proposed algorithm theoretically proved use Lyapunov function. was implemented synthetic environment extensive evaluation, where obtained demonstrate effectiveness.