AVOA-Based Tuning of Low-Cost Fuzzy Controllers for Tower Crane Systems

This paper proposes the African Vultures Optimization Algorithm (AVOA)-based tuning of low-cost fuzzy controllers for the payload position control of tower crane systems. The fuzzy controllers are built around first order discrete-time intelligent Proportional-Integral (iPI) controllers with Takagi-Sugeno-Kang Proportional-Derivative (PD) fuzzy terms. The parameters of the fuzzy controllers are optimally tuned using the recent metaheuristic AVOA, which solves an optimization problem with the cost function defined as the sum of squared control error multiplied by time, and its variables are the controller tuning parameters. The control system performance improvement is proved in terms of applying only five iterations of AVOA, and the comparison with other metaheuristic algorithms that solve the same optimization problem is carried out on the basis of real-time experimental results.