An Adaptive Integral Sliding Mode Control method for Overhead Cranes with monocular visual feedback

In this paper, an overhead crane control scheme based on visual feedback is developed to restrain the swing angle of payload and to transport the payload to a desired position rapidly and accurately. A monocular camera system, a modified mean shift algorithm and a minimum area circle method are employed to obtain payload swing angle. Data fusion is proposed to improve the accuracy of payload swing angle which is used as the feedback value of the overhead crane controller. Then, an adaptive gain integral sliding mode controller for the overhead crane is proposed to realize anti sway and positioning control, while eliminating the influence of image processing time and information transmission time, that is, the parameters of the suggested controller may be adjusted according to the delay time. This method can enhance the robustness of the crane control system to time delay caused by image calculation and information transmission and disturbance. The stability of the control system is analyzed using Lyapunov theory. The effectiveness of the proposed control scheme is verified through simulation.