Fuzzy projection control law and its application to the overhead crane

Overhead cranes are typically operated manually or via conventional control methods, such as PD-, optimal- and PLC-based method. This study presents a novel method that accelerates transportation and minimizes the payload swing of the overhead cranes. Based on the inertia theorem, this method does not need a complex dynamic model for a crane system, but rather uses trolley position and swing angle data to design the proposed fuzzy projection controller. An enhanced fuzzy algorithm is also utilized to eliminate the deadzone problem. Last, the feasibility and effectiveness of the proposed scheme are compared with those of the conventional PD and nonlinear coupling methods. (C) 2008 Elsevier Ltd. All rights reserved.