An adaptive fuzzy controller for overhead crane

An adaptive Fuzzy PD controller (AFPDC) is proposed in this paper. Output scaling factor (SF) of the proposed fuzzy controller is updated according to the process trend by a fuzzy gain modifier, which is determined by error and change of error of the system. Effectiveness of the proposed AFPDC is demonstrated on a laboratory scale overhead crane. Moving a suspended load along a pre-specified path is not an easy task when strict specifications on the swing angle and transfer time need to be satisfied. In this study, twin adaptive fuzzy controllers are designed to control the trolley position of the crane and swing angle of the load. The proposed adaptive scheme guarantees a fast and precise load transfer and the swing suppression during load movement, despite of model uncertainties.