A precise fuzzy controller developed for overhead crane

This paper presents the development of a fuzzy logic controller for load swing control of an overhead crane. What makes the proposed model complete is the quadratic derivative of state variables added to the conventional model which provides an extra weighting. The aim of the controller designed is to keep the load angle zero which means no physical swinging in the load´s position after reaching its desired destination. Comparison with optimal control method as a famous control method is performed to verify the designed controller. The results show that the developed fuzzy controller is capable of damping the oscillations in the load swing angle and load´s angular velocity in quite a short time.