The nonlinear 3-D crane control with an intelligent operating method

In this paper, a new accelerated method for rapid and smooth transportation of a nonlinear 3D crane is proposed. This method applies the projection of the swing angle in 3-dimensional (3D) space and the vector of remaining distance to the goal to derive the proper control. The inertia theorem is also utilized to design the controller. The usual heuristic method is also derived to evaluate the performance with the proposed scheme. Experimental results show that, by using the proposed method; the crane control system can reduce the position error and restrain the load swing perfectly.