This chapter proposes a novel control strategy for overhead cranes. The controller includes both position regulation and anti-swing control. Since the crane model is not exactly known, fuzzy cerebellar model articulation controller (CMAC) is used to compensate friction, and gravity, as well as the coupling between position and anti-swing control. Using a Lyapunov method and an input-to-state st...

In this paper, a nonlinear anti-sway control law for overhead cranes is investigated. The crane model itself is adopted from the literature; however, a new nonlinear decoupling control law that provides superior position-regulation and swaysuppression characteristics is proposed in this paper. The derived control law uses the sway angular rate as well as the sway angle as feedback. The performa...

Abstract In the presence of increasing demands for safety and efficiency material handling systems, development advanced supervisory control, monitoring, data acquisition diagnostic systems is involved, especially large industrial cranes. The important part such continuous monitoring a crane load. load system proposed in paper based on fuzzy model that estimates payload mass transferred by meas...

Overhead cranes are usually operated manually to move heavy loads. Fast and smooth movements of the loads are the main objectives of crane operations. However, both the objectives always contradict with each other, so that it is hard to achieve positioning and swing control simultaneously by using conventional methods. This paper presents the adaptive fuzzy sliding mode controller (AFSMC) to re...

A new fuzzy controller for anti-swing and positioning control of an overhead traveling crane is proposed based on the SIRMs (Single Input Rule Modules) dynamically connected fuzzy inference model. The trolley position and velocity, the rope swing angle and angular velocity are selected as input items, and the trolley acceleration as output item. With a simple structure, the controller can auton...