Control of Overhead Crane Pendulation by Self-Tuning Interval Type-2 Fuzzy Controller

in this paper, the research proposes an online fuzzy self-tuning method for an interval type-2 fuzzy PD controller. The interval type-2 fuzzy PD controller that implements the footprint of uncertainty (FOU) is developed using the fundamental concept of the type-1 fuzzy PD strategy. The proposed method is applied to an overhead crane to control the load's pendulation and cart position for effective material transportation. The position and angle of an overhead crane are put forth to be controlled by a pair of distinct self-tuning interval type-2 fuzzy PD controllers (SIT2FPDC) in this work. The SIT2FPDCs modify the gain to the process requirements through modifying the output scaling factors in real-time. By manipulating the mass and length of the pendulation, this research undertakes an in-depth examination of the overhead crane. In comparison to alternative fuzzy controllers, the crane control strategy with the proposed controller is examined. Due of the crane system's high nonlinearity, this study does not employ a conventional controller.