عنوان مقاله [English]
نویسندگان [English]چکیده [English]
Nowaday there is the gantry cranes in harbor and waterfront of commercial and military widely hence with the aim of increasing efficiency and reduce the risk of their performance increased level of automation and intelligent control them is important. The most important goals for this type of crane control system is increase the speed of the object during the oscillatory motion control and accuracy in placing the object in the desired position, hence control system design methods that are classified into three main categories including classical methods, modern methods and soft computing among fuzzy logic control is provided for this purpose. In this paper, the dynamic model of a gantry crane samples were extracted at laboratory scale and system performance results with the installation of classic PID , LQR and Fuzzy logic controller have been compared with others that indicating the superiority of fuzzy method.