Modeling and control of scaled a tower crane system

In this paper, we proposed a hierarchical artificial neural network based adaptive fuzzy logic (HANNFL) control of flexible link carrying pendulum system which was assumed as scaled a tower crane system and capable to move in the horizontal plane. Simulation and experimental studies were realized to control position and tip displacement of the flexible link and swing angles of pendulum. The dynamic model of the system was obtained by using Lagrange formulation and three-dimensional solid modeling program. The results obtained from simulation and experimental works were compared and given by graphics and tables. The validity of simulations were verified by experimental studies and the performance of the desired controller was explored. The position, tip displacement and swing angle control of the system were carried out successfully both simulation and experimental studies and desired goals were achieved.