Fuzzy Logic-based Anti-Swing and Position Control for Bridge Cranes

Recently, many approaches have been implemented for anti-swing control of overhead cranes in order to improve the operational efficiency. It is proposed a fuzzy logic-based anti-swing and position control of overhead cranes considering the nonlinearity and uncertainty of the crane model, where two fuzzy controller are designed to control the trolley position and to load swing separately. The fuzzy position controller is based on a simple speed reference trajectory to control the position and velocity of the trolley; and in the fuzzy anti-swing controller, the fuzzy rules are devised to resemble the experience of human crane operators for eliminating the load swing. Simulation results verify the feasibility of the method, and compared with linear quadratic regulator (LQR), this method is of good performance and robust to different rope length and load mass.