Anti-swing control of a new container crane with fuzzy uncertainties compensation

A class of new container cranes with eight-link lifting mechanics which can reduce sway efficiently as a result of improved lifting structure have been put to use recently, and both modeling and swing control of such a crane system attracts a lot attention in the field of control technology development. In this paper, dynamics model of the new container crane is investigated, an anti-swing control scheme with fuzzy uncertainty compensation is proposed to ensure the positioning control as well as overall closed-loop system stability. None of the system parameters is required for the controller design in a priori. In the proposed control laws, the position error can be driven to a bounded area while the swing angle can also be rapidly damped so as to achieve minimal sway of the crane system. Stability analysis of the controller is also given. Finally, simulation results show the performance successfully.