Switched Two-Level 𝐻_∞ and Robust Fuzzy Learning Control of an Overhead Crane

Figure 2

Linguistic terms, membership functions, and rule table of the fuzzy control rules for AFCM. (a) Definition of membership functions of position error; (b) definition of membership functions of swing angle; (c) consequent part membership function of control input 𝑢(𝑡); and (d) fuzzy rule map.

(a)

(b)

(c)

(d)