Anti-swing control with hierarchical fuzzy CMAC compensation for an overhead crane

This paper proposes a novel anti-swing control strategy for an overhead crane. The controller includes both position regulation and anti-swing control. Since the crane model is not exactly known, fuzzy CMAC are used to compensate friction, gravity as well as the coupling between position and anti-swing control. Real-time experiments are presented comparing this new stable anti-swing PD control strategy with regular crane controllers.