|A New Adaptive Neuro-sliding Mode Control for Gantry Crane
Slim Frikha*, Mohamed Djemel, and Nabil Derbel
International Journal of Control, Automation, and Systems, vol. 16, no. 2, pp.559-565, 2018
Abstract : "This paper presents a new adaptive neuro-sliding mode control for gantry crane as varying rope length.
This control method derived from combining the sliding surfaces of three subsystem of the gantry crane (trolley
position, rope length, anti-swing) to draw out two system sliding surfaces: the trolley position with the anti-swing
and the rope length and the anti-swing. On the based of the sliding mode control principle, drawn out the equivalent
controller and the switching controller for gantry crane. But due to the uncertain parameters-nonlinear model of
gantry crane with the bound disturbances, combining the neural approximate method, defined the neural controller
and the compensation controller for the difference between the equivalent controller and the neural controller for
two system control inputs: trolley position and rope length. The adaptive control laws for these controllers were
deduced from Lyapunov’s stable criteria to asymptotically stabilize the sliding surfaces. Simulation studies are
performed to illustrate the effectiveness of the proposed control."
Adaptive controller, artificial neural networks, gantry crane, sliding mode control, stability.