Model -Free Adaptive Control With Fuzzy Component for Tower Crane Systems

Abstract

The objective of the current paper is to improve the performance of data-driven Model-Free Adaptive Control (MFAC) by adding a Proportional-Derivative Takagi-Sugeno fuzzy controller (PDTSFC) component. This MFAC improvement is called MFAC-Proportional-Derivative Takagi-Sugeno Fuzzy Controller (MFAC-PDTSFC). MFAC-PDTSFC is applied to a Multi Input-Multi Output control structure of a mathematical model that describes the behavior of a nonlinear tower crane system (TCS) laboratory equipment. The MFAC-PDTSFC parameters are tuned in a model-based manner using metaheuristic Grey Wolf optimizer algorithm. The performances of the new MFAC-PDTSFC are compared with those of MFAC and Proportional-Derivative Takagi-Sugeno Fuzzy Controller (PDTSFC).