International Journal of
Physical Sciences

  • Abbreviation: Int. J. Phys. Sci.
  • Language: English
  • ISSN: 1992-1950
  • DOI: 10.5897/IJPS
  • Start Year: 2006
  • Published Articles: 2569

Full Length Research Paper

Anti-swing control of a double-pendulum-type overhead crane using parallel distributed fuzzy LQR controller

Mahdieh Adeli1*, Hassan Zarabadipour1 and Mahdi Aliyari Shoorehdeli2
  1Department of Electrical Engineering, Imam Khomeini International University, Qazvin, Iran. 2Faculty of Electrical Engineering, K. N. Toosi University of Technology, Tehran, Iran.
Email: [email protected].

  •  Accepted: 16 November 2011
  •  Published: 23 December 2011



One of the common industrial structures that are used widely in many harbors and factories, and buildings is overhead crane. Overhead cranes are usually operated manually or by some conventional control methods. In this paper, we propose a hybrid controller, that includes both position regulation and anti-swing control. According to Takagi-Sugeno fuzzy model of an overhead crane, a fuzzy controller designed with parallel distributed compensation and linear quadratic regulation. With the Takagi-Sugeno fuzzy modeling, the nonlinear system is approximated by the combination of several linear subsystems in the corresponding fuzzy state space region. Then by constructing a linear quadratic regulation sub-controller according to each linear subsystem, a parallel distributed fuzzy LQR controller is designed. Further, the stability of the overhead crane with the parallel distributed fuzzy LQR controller is discussed. Simulation results illustrated the validity of the proposed control algorithm and it is compared with a similar method parallel distributed fuzzy controller.


Key words: Pattern parallel distributed compensation, Takagi_Sugeno fuzzy modelling, overhead crane, linear matrix inequality, linear quadratic regulation.