Stable adaptive compensation with fuzzy CMAC for an overhead crane

• DOI: 10.1016/j.ins.2009.06.032
• Publication Date: 2009-07-01T08:17:37Z
• Authors: Wen Yu; Marco A. Moreno-A...; Floriberto Ortiz ...
• Keywords: 0209 industrial biotechnology; 0202 electrical engineering, electronic engineering, information engineering; 02 engineering and technology

Abstract In order to control mechanical systems, this paper proposes a novel fast control strategy. The controller includes a normal proportional and derivative (PD) regulator and a fuzzy cerebellar model articulation controller (CMAC). For an overhead crane, this control can realize both position tracking and anti-swing. Using a Lyapunov method and an input-to-state stability technique, the PD control with CMAC compensation is proven to be robustly stable with bounded uncertainties. Real-time experiments are presented comparing this new stable control strategy with regular crane controllers.