Type-2 Fuzzy Sliding Mode Anti-Swing Controller Design and Optimization for Overhead Crane

Overhead crane is regarded as a kind of complex nonlinear dynamic system in which the underactuated characteristic makes the controller hardly control the space of load swing effectively. In addition, the system internal and external uncertain factors also give rise to the adverse effect for control performance. Therefore, aiming at these problems, a type-2 fuzzy theory-based sliding mode controller (type-2 FSMC) is designed for damping the oscillation of the payload in which the proposed type-2 FSMC inherits the benefits of type-2 fuzzy logic theory and sliding mode control theory for improving anti-swing control performance. Furthermore, in order to configure the type-2 FSMC parameter efficiently, an adaptive differential evolutionary algorithm-based parameter tuning mechanism is presented for acquiring the optimal control performance. Through computer simulation and comparisons under different operation conditions, the optimal type-2 FSMC demonstrates the effectiveness in eliminating the payload residual vibration.