Optimal Trajectory Tracking and Fuzzy-PID Controller Design for Nonlinear Gantry Crane

Abstract

Gantry cranes are widely used in industry for load transfer, but increasing the trolley or rail speed to move loads quickly leads to excessive swaying. This swaying must be minimized before any loading or unloading can occur, a process that consumes time and can stress the hoist, damage surrounding objects, and jeopardize the payload. In the context of gantry crane control, the first step is to develop an optimal motion planner to generate a reference command. Then, a Fuzzy-PID controller is employed. This controller is designed to adapt to real-time system changes, making it well-suited for the gantry crane’s nonlinear model, which conventional PID controllers struggle with. The Fuzzy-PID controller’s nonlinear nature is particularly advantageous for managing the highly nonlinear gantry crane model. It excels, especially in the presence of external disturbances, outperforming traditional PID controllers. The fuzzy-PID controller is superior in optimizing sway angle tracking and achieving better position control compared to conventional PID controllers, offering enhanced performance in gantry crane operations.