Authors : Hue Cam Tang; Minh Duc Dang; Nga To Thi Nguyen

Volume/Issue : Volume 11 - 2026, Issue 1 - January

Google Scholar : https://tinyurl.com/32hyjb5v

Scribd : https://tinyurl.com/5dhzjdx6

DOI : https://doi.org/10.38124/ijisrt/26jan1174

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Abstract : This paper presents the design and simulation of a Fuzzy-Proportional–Derivative (Fuzzy-PD) controller for a nonlinear and underactuated overhead crane system. The proposed method aims to achieve rapid trolley positioning and effective suppression of payload swing under strong nonlinear coupling and parameter uncertainties. The controller combines the adaptive reasoning of fuzzy logic with the fast transient characteristics of a PD structure by using position error and its rate of change as input variables. The fuzzy inference system is constructed with triangular membership functions, a symmetric 5×5 rule base, and MAX–PROD inference with centroid defuzzification. The control output is generated incrementally and integrated to ensure smooth actuation. MATLAB/Simulink simulations demonstrate that the Fuzzy-PD controller achieves accurate position tracking with a short settling time of 3–5 s, minimal steady-state error, and payload oscillations below 0.1 rad. The control force remains bounded within ±3 N, confirming stability and energy efficiency. Compared with conventional PID and classical fuzzy controllers, the proposed approach provides faster transient response, improved damping, and enhanced robustness, making it a simple yet effective control solution for real-time overhead crane applications.

Keywords : Overhead Crane System, Fuzzy Logic Control, PD Controller, Nonlinear Dynamics, Swing Suppression, Intelligent Control.

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