Controlling a 2-dimentional overhead gantry crane Using TSKfuzzylogic controller

An overhead gantry crane system is one of the useful devices in factories and ports, in order to carry heavy loads. In the past few years, many efforts have been made to maintain an ideal design for the crane. Development of modeling and control, and determining the optimal speed, in order to minimal the load swing and anti-swinging control are samples of these efforts. Takagi-Sugeno- Kang (TSK) fuzzy model is developed in order to control 2-D crane system and to achieve optimal performance. In this study, the friction in the system is assumed as negligible and the rope is considered as rigid. At the end, result is illustrated. So, the efficiency of the system is improved by the controller.

کلیدواژه ها:

Overhead gantry crane system ، TSK-fuzzy logic controller ، Underactuated system