A General Anti-swing Fuzzy Controller for an Overhead Crane with Hoisting

Abstract

Several fuzzy control schemes of overhead cranes have been proposed. Most of these schemes are valid for a specific crane configuration only. Extensive experimentation is needed to apply such schemes to a different crane. This paper presents an approach for automatically creating anti-swing fuzzy logic controllers for two-dimensional overhead cranes with hoisting. Inverse dynamics and desired motion parameters of the overhead crane are used to determine the ranges of the variables of the controllers. The control action is divided into two phases. In the first phase, two fuzzy logic controllers (FLCs) drive the system toward its final destination: travel controller and hoist controller. The second phase is initiated after this point. It includes an anti-swing controller in addition to the travel and hoist controllers. The simulation example presented shows that the proposed controller can successfully drive overhead cranes under various operating conditions.