Anti-swing Fuzzy Controller Design for a 3D Overhead Crane

Abstract

This paper proposes a simple but efficient technique to control 3D overhead crane. Load must track a desired path and not sway more than a reasonable range.The proposed method uses PID control for trolley to track the desired path and fuzzy control compensation to eliminate the load swing. Only the projection of swing angle is applied to design the fuzzy controller. No plant information of crane is necessary in this approach. Therefore, the proposed method greatly reduces the computational efforts. Effectiveness of the proposed method is illustrated through a simulated examp