Fuzzy Control for Gantry Crane 2D: Simulation and Experiment

Abstract

2D crane or gantry crane is a SIMO system which is commonly applied in both
reality and academy. With a model which has un-known system parameters, we build and
apply a fuzzy controller as a solution for this model, which has unknown system parameters
and SIMO structure. Beside analysis on the need of using fuzzy controller instead of other
controllers, we prove the ability of this algorithm on Matlab/Simulink. Moreover, we build
an experimental model of 2D crane through control board STM32F4. Experimental results
also show the effectiveness of fuzzy algorithm. Rules of calibration fuzzy controllers are
examined on this model.