A fuzzy anti-swing control scheme is proposed for a three-dimensional overhead crane. The proposed control consists of position servo control and 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 accurate control of crane position and rope length as well as prompt suppression of load swing for simultaneous travel traverse, and hoisting motions of the crane. Furthermore, the proposed control provides practical gain tuning criteria for easy implementation. The effectiveness of the proposed control is demonstrated by experiments with a three-dimensional prototype overhead crane.
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