Modelling a Fuzzy Logic-Based Multiple-Actuator Hydraulic Lifting and Positioning System

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Abstract
This paper presents a fuzzy logic control strategy for synchronising the vertical lifting and positioning of a multi-actuator hydraulic system designed for a 360-ton movable platform. The primary focus is on achieving precise actuator movement coordination under uneven loading conditions without using external reference systems or high-cost sensors. A mathematical model and a simulation environment were developed in MATLAB/Simulink with Fuzzy Logic Toolbox. Four fuzzy controller variants were evaluated regarding positioning accuracy, robustness, and compliance with dynamic constraints. The results demonstrate the effectiveness of the proposed control method, particularly when using Gaussian membership functions and PROD–PROBOR fuzzy operators. The system achieved sub-millimetre synchronisation accuracy even under 20% load imbalance. This work contributes to developing decentralised, sensor-light control strategies for large-scale hydraulic systems and offers a validated foundation for future experimental implementation in the PANDA particle detector project.

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