An anti-swing control of a 3-dimensional overhead crane

A new anti-swing control law is proposed for a 3D overhead crane. The overall controller consists of position servo controller and fuzzy logic controller. The position servo controller is designed via the loop shaping method based on the experimental crane velocity servo system. The fuzzy logic controller is used to suppress the load swing and the effects of the varying dynamics of the load swing as a function of the rope length. This control method guarantees not only fast damping of the load swing but also zero steady state position error for the 3D motion of the crane. The proposed control law is evaluated by the 3D overhead crane. Finally, the effectiveness of the proposed control method is shown by experimental results.