This search includes studying of automated mobile cranes to reduce incidence of
inversing which often happens due to payload swaying that requires controlling system at
the crane's site to reach Target position and another controlling system to red
uce payload
swaying as possible while the crane is in motion.
Despite the development of controlling systems that adjust the operation and
functions of these cranes, the repetition of accidental tips in these cranes lead us to look for
hybrid fuzzy controlling system comparing it with PID controlling system. So, it will
improve the performance of these cranes through the reduction of payload swaying and
precise control of crane’s position.
The PID controller and Hybrid Fuzzy PID controller were simulated using Matlab
Software and the results were compared to reach the best controlling system for the crane.
An ANFIS controller also designed and a comparison
between proposed controller, ANFIS controller and open loop model
had made with different types of disturbance.
