Study of precise positioning and antiswing for the varying rope length in 3D crane systems base on the combination of partial decoupling and fuzzy control

Crane system is under-actuated nonlinear and coupling, and the rope length is variable in 3D movements. In view of these, a control method which can realize accurate localization and reduce swing is proposed. This method is based on partial nonlinear decoupled and fuzzy control. Simulation results show that this controller can make the maximum swing angle between 4deg-7deg, and it can shorten the localization time. The presented controller can simplify complex mathematical calculations, improve the control accuracy and shorten the adjustment time. This method is of a good dynamic performance and robustness.