Genetic Fuzzy Approach for Designing a Gain Scheduling Anti-Sway Crane Control System

Abstract

The gain scheduling control scheme designing problem consists in selecting a set of appropriate operating points at which the linear controllers are determined, thus the interpolation scheme ensures expected control quality within the known range of system's parameters changes, when those parameters vary in relation to some exogenous variables used in a control system as the scheduling variables. The problem arises together with the number of scheduling variables correlated with the parameters variations, thus utilizing the iterative techniques to minimize a set of controllers can be unreliable. The problem of gain scheduling system designing is addressed in the paper to the anti-sway crane control system. The fuzzy interpolation is used to determine the gains of proportional-derivative controllers based on the scheduling variables, the rope length and mass of a payload suspended on a rope. The problem of rules base optimization and membership function parameters tuning is solved using genetic algorithm and pole placement method.