The Research on LQR Control of Overhead Crane Based on Interval Type-2 T-S Fuzzy Model

The traditional T-S fuzzy model is used to describe the overhead crane system with parameter uncertainty and external disturbance, which cannot deal with the uncertain membership function. Compared with type-1 T-S fuzzy model, type-2 T-S fuzzy model has more advantages in solving the uncertainty of membership function. It can better capture the uncertainty of the system and is more suitable to approximate the system with parameter uncertainty and external disturbance. Therefore, this paper presents the LQR control method of overhead crane based on interval type-2 T-S fuzzy model. Firstly, an interval type-2 T-S fuzzy model is designed based on the nonlinear mathematical model to characterize the nonlinear system of the overhead crane. Then, the state feedback gain matrix solver of the system is linear quadratic regulator(LQR). Finally, the simulation results verify the effectiveness and feasibility of the proposed method.