Switched Two-Level and Robust Fuzzy Learning Control of an Overhead Crane
Figure 4
Pictures of the experimental crane system. (a) A whole view of the system. The image was generated by overlapping five snapshots taken during operation. (b) An upper view of the cart showing a servo motor to drive the cart and a bearing-supported shaft to hang the payload. (c) Close view of an encoder, also shown in (b), which is attached to the shaft for swing angle measurement.
