Dragana M Trajković, Dragan S Antić, Saša S Nikolić, Staniša Lj Perić, Miroslav B Milovanović

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The control of three-dimensional (3D) crane system represents one of the most widely challenging control problems. 3D crane system is used for lifting and moving loads horizontally, as well as lowering and realizing the gripper to the original position. In this paper fuzzy logic-based control of three-dimensional crane (3D) system is presented. Hence the system produces oscillations during moving loads, the main objective of the designed controller is to control the swing angle. As a plant for controller design, the bond graph model of 3D crane system is used. To verify the effectiveness of the proposed control method, several digital simulations with concrete values of parameters are performed using Matlab. The simulations results show that the proposed fuzzy logic control produce better performance in regard to the reduction of undesired oscillations.

Key words: bond graph, 3D crane, Dymola, fuzzy control, modeling and simulation, Matlab/Simulink

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