This paper proposes a hybrid controller which combines zero vibration derivative (ZVD) shaper with fuzzy logic control (FLC) technique for load hoisting control of a 2-D crane. Crane control is a challenging area in control as it is difficut to control unwanted payload sway motion, which results in inaccurate positioning of the payload at the target area. In this work, ZVD is designed to minimise payload sway motion while, FLC is designed for trolley positioning. Two different approaches are used for the design of the ZVD, first the ZVD is design with parameters of the system at maximum hoisting length and secondly it is designed with system’s parameters at average travel hoisting length (ATL) to improve the performance of the sway reduction. Mean absolute error (MAE) of the payload sway is used as performance index of the controllers. The MAE values of the sway motion for crane with load hoisting without controller, with FLC, with FLC and ZVD and with FLC and ATL are found to be 11.3597, 3.5583, 2.0853 and 1.3508 degrees respectively. The simulation results revealed that the proposed hybrid control technique achieved precise payload position with acceptable payload sway reduction. Combined FLC and ATL gives better performance as compared to FLC alone and FLC and ZVD.
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