Controlling cranes to reduce the load sway is a current topic in industrial control research. This paper presents the design and hardware implementation of a systematic fuzzy logic-based robust sway control method for industrial cranes. The control design presented in this paper is systematic, does not require an expert, and guarantees the stability of the controlled system for all the crane parameters in the specified practical range. The sway control was implemented in hardware and tested on a scale model crane. The test results display robust stability and performance for different payloads and cable lengths and for disturbances. These experimental results are shown in the paper.
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