An Anti-sway Positioning Algorithm of Unmanned Crane Based on ANFIS

The bridge crane system is widely used in the industrial production and its anti-sway positioning controls are crucial. In this paper, an anti-sway positioning control algorithm of unmanned crane is proposed based on ANFIS, which employs a structure similar to neural networks and can effectively calculate the optimal parameters of the membership function through the back propagation algorithm and the least square algorithm. The experimental results show that the proposed algorithm can achieve high positioning accuracy under the condition of a certain range of rope length. The load sway angle is small when the target position is reached.