Anti-swing and positioning control of overhead traveling crane

A new fuzzy controller for anti-swing and position control of an overhead traveling crane is proposed based on the Single Input Rule Modules (SIRMs) dynamically connected fuzzy inference model. The trolley position and velocity, the rope swing angle and angular velocity are selected as the input ite...

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Bibliographic Details
Published in:Information sciences 2003-10, Vol.155 (1), p.19-42
Main Authors: Yi, Jianqiang, Yubazaki, Naoyoshi, Hirota, Kaoru
Format: Article
Language:English
Subjects:
Crane
Dynamic importance degree
Fuzzy control
Single input rule module
Stability analysis
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Summary:A new fuzzy controller for anti-swing and position control of an overhead traveling crane is proposed based on the Single Input Rule Modules (SIRMs) dynamically connected fuzzy inference model. The trolley position and velocity, the rope swing angle and angular velocity are selected as the input items, and the trolley acceleration as the output item. Each input item is given with a SIRM and a dynamic importance degree. The control system is proved to be asymptotically stable to the destination. The controller is robust to different rope lengths and has generalization ability for different initial positions. Control simulation results show that by using the fuzzy controller, the crane is smoothly driven to the destination in short time with small swing angle and almost no overshoot.
ISSN:0020-0255
1872-6291
DOI:10.1016/S0020-0255(03)00127-0