Fuzzy sliding mode anti-swing control for tower crane base on time-delayed filter

Aiming to the swing of load in the process of transportation, the dynamic model of tower crane system is analyzed. Based on time-delayed filter, a new method of fuzzy sliding mode anti-swing control is proposed for tower crane. This method, which consists of the sliding mode control to eliminate the load swing and the fuzzy control to adjust the parameters of reaching law, weakens or avoids the system chattering and improves the rate that the system reaches the sliding surface. And the time-delayed filter which could filter the model input signal is designed to reduce residual vibration in an uncertain system. This method enables the system to have good dynamic performances and enhance the quality of control system. The simulation results show that the feasibility and effectiveness of the method.