An Adaptive PD-Type FLC and Its Real Time Implementation to Overhead Crane Control

In this study, we proposed an Adaptive Fuzzy PD Controller (AFPDC), where output gain is adjusted, based on the current operating condition of the process, by an online updating parameter (β) that is calculated by normalized error (eN) and normalized change of error (ΔeN) of the process. The proposed controller is tested on second-order process models including an unstable system. Comparative performance analysis is provided with fuzzy and conventional controllers in terms of several performance indices. Finally, the proposed control approach is investigated on a practical overhead crane to control its cart position as well as swing angle of load. The proposed self-tuning control scheme shows an accurate transfer of load, along with a good swing suppression.

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