Proposal of GA-based two-stage fuzzy control of overhead crane

Abstract

A genetic algorithm(GA)-based two-stage fuzzy controller is proposed for overhead crane. In this controller, two fuzzy sub-controllers are designed to respectively control the swing and displacement. A real-valued GA is used twice in different stages to adjust the parameters of the controllers to ensure the positioning precision, minimize transporting time and swing angle, and damp swing angle at target position. Simulation results demonstrate the effectiveness of this approach.