Fuzzy controllers for a gantry crane system with experimental verifications
type: Item
instance of: scholarly article
title: Fuzzy controllers for a gantry crane system with experimental verifications
zbMATH Open document ID: 1400.93157
DOI: 10.1155/2016/1965923
author: Naif B. Almutairi
author: Mohamed Zribi
published in: Mathematical Problems in Engineering
publication date: 2018-10-12T00:00:00Z
review text: Summary: The control problem of gantry cranes has attracted the attention of many researchers because of the various applications of these cranes in the industry. In this paper we propose two fuzzy controllers to control the position of the cart of a gantry crane while suppressing the swing angle of the payload. Firstly, we propose a dual PD fuzzy controller where the parameters of each PD controller change as the cart moves toward its desired position, while maintaining a small swing angle of the payload. This controller uses two fuzzy subsystems. Then, we propose a fuzzy controller which is based on heuristics. The rules of this controller are obtained taking into account the knowledge of an experienced crane operator. This controller is unique in that it uses only one fuzzy system to achieve the control objective. The validity of the designed controllers is tested through extensive MATLAB simulations as well as experimental results on a laboratory gantry crane apparatus. The simulation results as well as the experimental results indicate that the proposed fuzzy controllers work well. Moreover, the simulation and the experimental results demonstrate the robustness of the proposed control schemes against output disturbances as well as against uncertainty in some of the parameters of the crane.
Mathematics Subject Classification ID: 93C42
zbMATH DE Number: 6952872
Wikidata QID: Q59131077
describes a project that uses: Matlab
MaRDI profile type: Publication
full work available at URL: https://doi.org/10.1155/2016/1965923
OpenAlex ID: W2344484388
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description: scientific article; zbMATH DE number 6952872