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Designing precision fuzzy controller for load swing of an overhead crane

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Abstract

In this paper, a fuzzy logic controller is designed and proposed for controlling load swing of an overhead crane. To consider a complete model of the plant, the quadratic derivative of state variables is added to the conventional model which causes an extra weighting. The aim of the controller designed is to keep the load angle (ϕ) zero, all the time, which means no physical swinging in the load’s position. The results obtained are compared with the optimal control method, as one of the well-known control techniques, to verify the designed controller. The results show that the designed fuzzy controller is able to dampen the oscillations in the load swing angle and load’s angular velocity, in a reasonable time.

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Authors and Affiliations

  1. Department of Mathematical Science, Faculty of Science, Universiti Teknologi Malaysia (UTM), 81310, Johor Bahru, Johor, Malaysia

    Leila Ranjbari

  2. Department of Chemical Engineering, Abo Akademi University, 20500, Abo, Finland

    Amir H. Shirdel

  3. Faculty of Computing, Universiti Teknologi Malaysia (UTM), 81310, Johor Bahru, Johor, Malaysia

    M. Aslahi-Shahri, A. Ebrahimi & M. Darvishi

  4. Faculty of Mechanical Engineering, Universiti Teknologi Malaysia (UTM), 81310, Johor Bahru, Johor, Malaysia

    S. Anbari

  5. Malaysia-Japan International Institute of Technology, Universiti Teknologi Malaysia (UTM), 54100, Kuala Lumpur, Malaysia

    M. Alizadeh

  6. Centre for Artificial Intelligence & Robotics, Universiti Teknologi Malaysia, Jalan Semarak, 54100, Kuala Lumpur, Malaysia

    Rasoul Rahmani

  7. School of Engineering, Deakin University, Waurn Ponds, Victoria, 3216, Australia

    M. Seyedmahmoudian

Authors
  1. Leila Ranjbari
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  2. Amir H. Shirdel
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  3. M. Aslahi-Shahri
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  4. S. Anbari
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  5. A. Ebrahimi
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  6. M. Darvishi
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  7. M. Alizadeh
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  8. Rasoul Rahmani
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  9. M. Seyedmahmoudian
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Correspondence to Rasoul Rahmani.

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Ranjbari, L., Shirdel, A.H., Aslahi-Shahri, M. et al. Designing precision fuzzy controller for load swing of an overhead crane. Neural Comput & Applic 26, 1555–1560 (2015). https://doi.org/10.1007/s00521-015-1825-z

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  • DOI: https://doi.org/10.1007/s00521-015-1825-z

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