Fuzzy Control of Nonlinear Crane System

Instead of the current control methods, this paper provides a fuzzy based scheme to control the overhead crane. The proposed method does not require the complex mathematical model of overhead crane, but uses the trolley position and the load swing information to design the fuzzy controller. The rules are based on the heuristics of the experienced crane operators and follow the concepts of sliding mode control. An adaptive algorithm is also provided to tune the fuzzy controller. Nonlinear factors such as wind and rain are also considered to verify the robustness of the proposed fuzzy based algorithm. Several experimental results demonstrate the effectiveness and feasibility