Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Figure 9

Responses for a hoisting height of 1.7m. (a) Cart position. (b) Payload sway. (c) Sliding manifold. (d) Cart velocity. (e) Control effort. (f) Manifold slope.

(a)

(b)

(c)

(d)

(e)

(f)