A Fuzzy Control Scheme for the Gantry Crane Position and Load Swing Control

Minimization of the load transfer time and load swing angle in the crane applications, is conflicting control demand and requires proper control action. In this paper, fuzzy positioning and anti-swing control scheme for the gantry crane control is proposed. In order to control four system variables, the multivariable fuzzy crane controller is designed by using coefficients of a Linear Quadratic (LQ) crane controller. Fuzzy controller has been tested and compared with the LQ controller in simulation and on a laboratory planar gantry crane model.

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