COMPARATIVE STUDY OF MAMDANI AND 1 ST -ORDER TAKAGI SUGENO KANG TYPE FUZZY LOGIC CONTROLLERS FOR CONTROLLING THE RIGID GANTRY CRANE SYSTEM

Abstract

Controlling the rigid gantry crane system is challenging due to it being an under-actuated system. This paper addresses the challenge by presenting the fuzzy logic controller (FLC) with Mamdani and the 1 st -order Takagi Sugeno Kang (TSK) types presenting it in this comparative study. Both controllers are proposed to control the position of the crane while suppressing the swing of the payload. Simulation results show that the Mamdani type outperforms the 1 st -order Takagi Sugeno Kang (TSK) type in terms of no overshoot, though the earlier controller (Mamdani) has a slower rise time, settling time and peak time than the latter controller (TSK).