Composite sliding mode fuzzy control for double-pendulum-type overhead crane

A composite sliding mode fuzzy control (CSMFC) approach is proposed for the underactuated double-pendulum-type overhead crane (DPTOC). The nonlinear dynamic model of DPTOC is built using Lagrangian method. The composite sliding mode function (CSMF) consists of three sliding mode functions that are used to decouple the complex DPTOC. In the CSMFC, CSMF works as the antecedent and control variable works as the consequent. The proposed control approach greatly reduces the complexity to design a controller for complex underactuated systems. The control system stability is analyzed for DPTOC through variable structure control theory. Simulation results illustrate the validity of proposed control algorithm.