title: A fuzzy-logic antiswing controller for three-dimensional overhead cranes.
abstract: In this paper, a new fuzzy antiswing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of a position servo control and a fuzzy-logic control. The position servo control is used to control crane position and rope length, and the fuzzy-logic control is used to suppress load swing. The proposed control guarantees not only prompt suppression of load swing but also accurate control of crane position and rope length for simultaneous travel, traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy application. The effectiveness of the proposed control is shown by experiments with a three-dimensional prototype overhead crane.
authors.affiliation: Embedded Software Division, Mentor Graphics Corporation, San Jose, CA 95131, USA.
authors.forename: Sung-Kun
authors.initials: SK
authors.lastname: Cho
authors.forename: Ho-Hoon
authors.initials: HH
authors.lastname: Lee
mesh_terms: D003198:Computer Simulation; D005246:Feedback; D017143:Fuzzy Logic; D016014:Linear Models; D009038:Motion; D011786:Quality Control; D016474:Weight-Bearing