RCGA 기법을 이용한 컨테이너 크레인의 T-S 퍼지 모델링

In this paper, we present Takagi-Sugeno fuzzy model for container crane. This is characterized by fuzzy "if-then" rules which represent the locally input-output relationship whose consequence part is described by a state space equation as subsystem of a container crane. The parameters of the premise part of the Takagi-Sugeno fuzzy model are adjusted by a RCGA to have same dynamic characteristics with nonlinear system of a container crane. Simulation example is given to illustrate the performance of T-S fuzzy model.