Fuzzy-Model-Based Control of an Overhead Crane With Input Delay and Actuator Saturation

This paper investigates the problem of a Takagi–Sugeno (T–S) fuzzy-model-based control of a nonlinear overhead crane system with input delay and actuator saturation. The complex nonlinear dynamic system of the crane is modeled as a three-rule T–S fuzzy model with a saturated input. Based on the fuzzy model, a state-feedback controller is designed so that trajectories of the system that start from an ellipsoid will remain in it, where a decay...