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Fuzzy-LQR Based Anti-Swing Control of Gantry Crane

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Abstract:

The paper proposed a controller combined fuzzy logic with linear quadratic regulator (LQR). This controller was able to adjust the swing angle precisely during the lifting of gantry crane. It resolved the problem that the LQR controller mostly depending on the accuracy of the mathematical model. First, the paper analyzed the design method of the LQR, then an improved method combing with fuzzy logic was put forward in detail and a further simulation experiment was carried on the MATLAB. The result shows that compared with LQR, the Fuzzy-LQR method can drive the crane to destination in a shorter time and reduced the swing angle by a third.

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Info:

Periodical:

Advanced Materials Research (Volumes 1030-1032)

Pages:

1596-1601

DOI:

https://doi.org/10.4028/www.scientific.net/AMR.1030-1032.1596

Citation:

Cite this paper

Online since:

September 2014

Authors:

Chun Xin Mu*, Ming Quan Shi, Zhen Feng Han, Qi Min Li

Keywords:

Anti-Swing, Fuzzy-LQR, Gantry Crane, Simulation

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© 2014 Trans Tech Publications Ltd. All Rights Reserved

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