| Summary: | Gantry crane is a machine that moves payload from one point to another point.
Nowadays, most of gantry cranes use open loop system to control position while anti�swing control is operated manually by skillful operators. The open loop system is
sensitive to the parameter variations and disturbances while operator's skills are
restricted by fatigue problem and will affect the performance of the gantry crane. In
order to overcome the problems, feedback control is adopted in this study. Firstly,
classical PID and PD were introduced as position and anti-swing control respectively.
The experimental result showed that the PID and PD controllers were successfully
controlled both position and swing of the gantry crane especially for small load
displacement. However, the positioning performance was degraded due to the
saturation of the actuator. In addition, the PID controller design is a time consuming
process, since model and parameters of the gantry crane are needed. Secondly, non�model based of fuzzy logic controllers are implemented in the gantry crane system for
position and anti-swing control. The experimental result showed that fuzzy logic
controllers had resulted on good performances for anti-swing controller. However, the
results for position control were inconsistent for small desired position. The tuning
process may improve the control performance but it may affect other desired
positions. Finally, non-model based of NCTF controller, was proposed for position
control of the gantry crane system while the anti-swing control by using fuzzy logic
controller remained the same since it gave good performance. The experimental result
showed that the NCTF controller produced best results for position control of the
gantry crane system compared to other controllers.
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