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

Table 1

Dynamics model parameters.

Notation	Description	Unit
	Mass of driving cart	kg
	Mass of payload	kg
	Length of hoisting cable	m
	Cart’s viscous damping coefficient	N-s/m
	Payload’s viscous damping coefficient	N-m-s/rad
	Payload sway angle	rad
	Payload sway angular velocity	rad/s
	Driving cart’s position	m
	Driving cart’s linear velocity	m/s
	Cart control force	N
	Radius of cart’s pulley	m
	Motor electrical resistance	Ω
	DC motor torque	Nm
	DC motor torque constant	Nm/A
	Dc motor input voltage	V
	DC motor electric constant	V/rad/s