This paper presents investigations into the uddevelopment of PD-type Fuzzy Logic Control with different udpolarities input shaping for anti-sway control of a gantry crane udsystem. A nonlinear overhead gantry crane system is udconsidered and the dynamic model of the system is derived udusing the Euler-Lagrange formulation. To study the udeffectiveness of the controllers, initially a PD-type Fuzzy Logic udControl is developed for cart position control of gantry crane. udThis is then extended to incorporate input shaper control udschemes for anti-sway control of the system. The positive and udmodified specified negative amplitude (SNA) input shapers udwith the derivative effects respectively are designed based on udthe properties of the system. Simulation results of the response udof the system with the controllers are presented in time and udfrequency domains. The performances of the control schemes udare examined in terms of level of input tracking capability, udswing angle reduction, time response specifications and udrobustness to parameters uncertainty in comparison to the PD-udtype Fuzzy Logic control. Finally, a comparative assessment of udthe amplitude polarities of the input shapers to the system udperformance is presented and discussed.
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