Damping based anti-swing compensated fuzzy-PID controller for the overhead crane

Overhead cranes are most commonly used in the industries for the transportation of machineries and other payloads. The main objective is to make the loaded trolley position to the target region in minimum time with reduced payload swing. Usually this task is too hard in practical aspect because overhead crane is an under actuated system. In a normal overhead crane system energy of the system is damped as time goes on increasing, such damping can be improved by converging parameters related to the swing. In this paper a new method of nonlinear intelligent controller with antiswing compensation is discussed. A fuzzy PID controller is used for the position tracking and swing control is investigated based on an improved anti-swing signal derived from a swing related storage function. Proposed control is compared with linear controller and closed loop Lyapunov controller and shows improved response.