The 3D Crane System Based On Fuzzy Sliding Mode Control

3D crane system is a nonlinear, underactuated, high order, multi-arguments, closes cou-pling system. Many abstract control concepts can be shown visually by the experiments of the inverted pendulum. The methods and techniques stemming from the study of the inverted pendulum system can be extensively used in many fields, such as robot control technology, artificial intelligence, missile interceptor control systems and so on.This thesis focuses on the positioning and anti-swing of the 3D crane system. The fol-lowing is the work of the thesis.1. The current research situation of the 3D crane system is elaborated. There is a contradiction in those researches:various control algorithms have to be combined to meet the control re-quirements of the crane system, but this combination makes the controller complex and not suitable for physical control.2. The thesis reviews the developments of the 3D crane system. The model of the 3D crane system can be derived via the Lagrangian method.3. An adaptive fuzzy sliding mode approach is applied to control the position and load swing of a 3D crane system, and it combines fuzzy sliding mode control and variable universe adaptive fuzzy control to raise the accuracy of control output and fast response of crane system. The merits of this method include the simplicity of the controller, the robustness and model free properties of the sliding mode and fuzzy logic controllers, and the fast and accurateness of the variable universe adaptive fuzzy controller. At last, simulation and experimental results reveal the advantages of AFSMC over PID under the same control parameters.4. Hardware configuration of the 3D crane system is studied in detail. Real-time control is achieved in the VC++6.0 enviroment, and reveal the advantage of the proposed controller. Finally, the further research is presented.