Modelling and Fuzzy Logic Control of an Underactuated Tower Crane System

Tower crane is one of the flexible maneuvering systems that has been applied pervasively as a powerful big-scale construction machine. The under-actuated tower crane system has nonlinearity behavior with a coupling between translational and slew motions which increases the crane control challenge. I...

Full description

Saved in:

Bibliographic Details
Published in:	Applications of Modelling and Simulation Vol. 4; pp. 1 - 11
Main Authors:	Liyana Ramli, Izzuddin M. Lazim, H. I. Jaafar, Z. Mohamed
Format:	Journal Article
Language:	English
Published:	ARQII PUBLICATION 01-01-2020
Subjects:	crane systems flexible system fuzzy logic control intelligent control single input rule module
Online Access:	Get full text
Tags:	Add Tag No Tags, Be the first to tag this record!

Description
Summary:	Tower crane is one of the flexible maneuvering systems that has been applied pervasively as a powerful big-scale construction machine. The under-actuated tower crane system has nonlinearity behavior with a coupling between translational and slew motions which increases the crane control challenge. In practical applications, most of the tower cranes are operated by a human operator which lead to unsatisfactory control tasks. Motivated to overcome the issues, this paper proposes a fuzzy logic controller based on single input rule modules dynamically connected fuzzy inference system for slew/translational positioning and swing suppressions of a 3 degree-of-freedom tower crane system. The proposed method can reduce the number of rules significantly, resulting in a simpler controller design. The proposed method achieves higher suppressions of at least 56% and 81% in the overall in-plane and out-plane swing responses, respectively as compared to PSO based PID+PD control.
ISSN:	2600-8084