Control of overhead cranes using a fuzzy logic controller

Transportation of massive loads using overhead cranes can excite undesirable payload swinging. These oscillations have to be damped before other payload manipulation is done. A fuzzy logic controller moves the overhead crane along a desired path while ensuring that the payload is swing-free at the end of the motion. The control action is divided between displacement and swing controllers to enable tuning the controllers. The fuzzy controller is used with a swing-damped bang-bang motion profile based on the natural frequency of the payload is used that ensures that large amplitudes are not excited. Examples, along with comparisons with a PD controller, are included. Experimental implementation of the proposed controller is presented.