Intelligent Control of industrial gantry crane model "3D Crane"

3D Crane represent Laboratory model of industrial gantry cranes which are widely used in industry. In this work, a dynamic model of 3D Crane is presented and tow artificial intelligence techniques were synthetized and applied to the model : Fuzzy Logic Control (FLC) and Adaptive Neural Fuzzy Inference System (ANFIS); the purpose of the control is the minimization of swing angles with continued reference trajectory in the three axes. A robustness test against external disturbance of the implemented controls was also apply. The results of the applied techniques are discussed.