Fuzzy Controllers for a Gantry Crane System with Experimental Verifications

The control problem of gantry cranes has attracted the attention of many researchers because of the various applications of these cranes in the industry. In this paper we propose two fuzzy controllers to control the position of the cart of a gantry crane while suppressing the swing angle of the payl...

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Main Authors: Naif B. Almutairi, Mohamed Zribi
Format: Article
Language:English
Published: Hindawi Limited 2016-01-01
Series:Mathematical Problems in Engineering
Online Access:http://dx.doi.org/10.1155/2016/1965923
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spelling doaj-19b844c022194c668f7b85be2d30d4182020-11-24T20:46:01ZengHindawi LimitedMathematical Problems in Engineering1024-123X1563-51472016-01-01201610.1155/2016/19659231965923Fuzzy Controllers for a Gantry Crane System with Experimental VerificationsNaif B. Almutairi0Mohamed Zribi1Electrical Engineering Department, College of Engineering and Petroleum, Kuwait University, P.O. Box 5969, 13060 Safat, KuwaitElectrical Engineering Department, College of Engineering and Petroleum, Kuwait University, P.O. Box 5969, 13060 Safat, KuwaitThe control problem of gantry cranes has attracted the attention of many researchers because of the various applications of these cranes in the industry. In this paper we propose two fuzzy controllers to control the position of the cart of a gantry crane while suppressing the swing angle of the payload. Firstly, we propose a dual PD fuzzy controller where the parameters of each PD controller change as the cart moves toward its desired position, while maintaining a small swing angle of the payload. This controller uses two fuzzy subsystems. Then, we propose a fuzzy controller which is based on heuristics. The rules of this controller are obtained taking into account the knowledge of an experienced crane operator. This controller is unique in that it uses only one fuzzy system to achieve the control objective. The validity of the designed controllers is tested through extensive MATLAB simulations as well as experimental results on a laboratory gantry crane apparatus. The simulation results as well as the experimental results indicate that the proposed fuzzy controllers work well. Moreover, the simulation and the experimental results demonstrate the robustness of the proposed control schemes against output disturbances as well as against uncertainty in some of the parameters of the crane.http://dx.doi.org/10.1155/2016/1965923
collection DOAJ
language English
format Article
sources DOAJ
author Naif B. Almutairi
Mohamed Zribi
spellingShingle Naif B. Almutairi
Mohamed Zribi
Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
Mathematical Problems in Engineering
author_facet Naif B. Almutairi
Mohamed Zribi
author_sort Naif B. Almutairi
title Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
title_short Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
title_full Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
title_fullStr Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
title_full_unstemmed Fuzzy Controllers for a Gantry Crane System with Experimental Verifications
title_sort fuzzy controllers for a gantry crane system with experimental verifications
publisher Hindawi Limited
series Mathematical Problems in Engineering
issn 1024-123X
1563-5147
publishDate 2016-01-01
description The control problem of gantry cranes has attracted the attention of many researchers because of the various applications of these cranes in the industry. In this paper we propose two fuzzy controllers to control the position of the cart of a gantry crane while suppressing the swing angle of the payload. Firstly, we propose a dual PD fuzzy controller where the parameters of each PD controller change as the cart moves toward its desired position, while maintaining a small swing angle of the payload. This controller uses two fuzzy subsystems. Then, we propose a fuzzy controller which is based on heuristics. The rules of this controller are obtained taking into account the knowledge of an experienced crane operator. This controller is unique in that it uses only one fuzzy system to achieve the control objective. The validity of the designed controllers is tested through extensive MATLAB simulations as well as experimental results on a laboratory gantry crane apparatus. The simulation results as well as the experimental results indicate that the proposed fuzzy controllers work well. Moreover, the simulation and the experimental results demonstrate the robustness of the proposed control schemes against output disturbances as well as against uncertainty in some of the parameters of the crane.
url http://dx.doi.org/10.1155/2016/1965923
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AT mohamedzribi fuzzycontrollersforagantrycranesystemwithexperimentalverifications
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