Optimal Sliding Mode Controller Design Based on Dynamic Differential Evolutionary Algorithm for Under-Actuated Crane Systems

In this paper, aiming at the payload residual vibration problem, a dynamic differential evolutionary algorithm-based sliding-mode controller (DDE-SMC) is designed for the under-actuated crane systems. According to the under-actuated crane systems mechanism of action, a fusion sliding function combined with position and angle sliding function is first given, and the corresponding control law by incorporating switching and equivalent control law is designed during the control process. Moreover, in order to configure the control parameter efficiently, the DDE algorithm is proposed and utilized for improving the anti-swing control performance. Through computer simulation and comparisons under different operation conditions, the proposed DDE-SMC demonstrates the effectiveness in damping the payload oscillations of the under-actuated crane system.