Nonlinear Fuzzy State-Space Modeling and LMI Fuzzy Control of Overhead Cranes

Daniel Leite, Charles Aguiar, Daniel Pereira, Gustavo Souza, Igor Skrjanc

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

6 Scopus citations

Abstract

The development of feedback control systems for overhead cranes is of great importance due to many potential applications and advantages over manual operation concerning stability and robustness. We represent the key nonlinear dynamics of cranes in a compact state-space fuzzy model. The fuzzy model assists the design of a fuzzy controller through parallel distributed compensation. A conservative linear-matrix-inequality feasibility problem is formulated so that a solution guarantees closed-loop Lyapunov stability, constrained inputs, quick positioning of the supporting cart and suppression of load oscillations. Due to the nonlinear nature of the fuzzy model and controller, Jacobian linearization at a hyperbolic equilibrium is avoided. The proposed fuzzy controller for cranes has shown to be effective, robust and able to move loads smoothly even after collisions. Constrained and smooth inputs avoid actuator saturation and tend to increase its lifetime.

Original languageEnglish
Title of host publication2019 IEEE International Conference on Fuzzy Systems, FUZZ 2019
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538617281
DOIs
StatePublished - Jun 2019
Externally publishedYes
Event2019 IEEE International Conference on Fuzzy Systems, FUZZ 2019 - New Orleans, United States
Duration: 23 Jun 201926 Jun 2019

Publication series

NameIEEE International Conference on Fuzzy Systems
Volume2019-June
ISSN (Print)1098-7584

Conference

Conference2019 IEEE International Conference on Fuzzy Systems, FUZZ 2019
Country/TerritoryUnited States
CityNew Orleans
Period23/06/1926/06/19

Keywords

  • Fuzzy systems
  • crane systems
  • model-based control
  • multivariable control

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