Comparative Analysis of Neural-Network and Fuzzy Auto-Tuning Sliding Mode Controls for Overhead Cranes under Payload and Cable Variations

Table 4

Fuzzy-SMC and neural network-SMC comparisons based on IAE and ITAE.

	System Configuration			IAE		ITAE
Case ID	Cart ref. [m]	Cable [m]	Payload [kg]	FZ-SMC	NN-SMC	FZ-SMC	NN-SMC
1	1	1.25	5	0.1745	0.1744	0.2249	0.2245
2	2	1→1.5→0.5	10	0.4118	0.4115	1.5060	1.5010
3	1→2→3	1	20	0.7418	0.7416	9.7370	9.7330
4	1→2→3	1→1.5→0.5	20	0.7769	0.7754	10.8100	10.7700
5	1	1.7	15	0.5489	0.1653	4.6300	0.3695