Design of sliding controller using Lyapunov stability theory for control of double pendulum gantry crane

Abstract

The difficulty in controlling the operation of the gantry crane (GC) is to face the complex phenomenon of the double pendulum. The oscillation of the hook (H) and the load (L) has reduced the working efficiency, reduced the ability to accurately position the trolley (T) and even caused mechanical damage and unsafe accidents. Therefore, the paper presents a solution to design a sliding mode controller (SMC) to control the gantry crane to reduce the oscillation of the hook and the load, and at the same time increase the ability to position the forklift. The coefficient k_s is optimized according to the fuzzy controller (FC). The stability of the system is proven by the Lyapunov stability theory, which has achieved the accuracy and durability of the entire control system. The sliding mode controller has been tested through MATLAB/Simulink simulation. The simulation results show that when using the sliding mode controller, the system has good control quality.