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Overhead cranes fuzzy control design with deadzone compensation

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Abstract

This article proposes a simple but effective way to control 3D overhead crane. The proposed method uses PID control at the start for rapid transportation and fuzzy control with deadzone compensation when the crane is close to the goal for precise positioning and moving the load smoothly. Only the remaining distance and projection of swing angle are applied to design the fuzzy controller. No plant information of crane is necessary in this approach. Therefore, the proposed method greatly reduces the computational efforts. Several experiments illustrated the encouraging effectiveness of the proposed method through a scaled 3D crane model. The nonlinear disturbance, such as abrupt collision, is also taken into account to check the robustness of the proposed method.

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Acknowledgment

This work was supported by the National Science Council of the Republic of China under Grant NSC-94-2213-E-231-020.

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Authors and Affiliations

  1. Chung Yuan Christian University, Jhongli, Taiwan

    Cheng-Yuan Chang

  2. Ching Yun University, Jhongli, Taiwan

    Tung-Chien Chiang

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  1. Cheng-Yuan Chang
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  2. Tung-Chien Chiang
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Correspondence to Cheng-Yuan Chang.

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Chang, CY., Chiang, TC. Overhead cranes fuzzy control design with deadzone compensation. Neural Comput & Applic 18, 749–757 (2009). https://doi.org/10.1007/s00521-009-0264-0

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  • DOI: https://doi.org/10.1007/s00521-009-0264-0

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