Design of a fuzzy logic controller for swing-damped transport of an overhead crane payload

Michael James Nalley, University of Nevada, Las Vegas


Transportation using overhead cranes can excite undesirable payload swinging. These oscillations have to be damped before other payload manipulation is done. A swing-damped motion profile based on the natural frequency of the payload is used to minimize swing excitation. In addition, a fuzzy logic controller is used to move the overhead crane along a desired path while ensuring that the payload is swing-free at the end of the motion. The control action is divided between displacement and swing controllers to simplify controller tuning for optimal performance. Examples, along with comparisons with a PD controller, are included, as well as related experimental development.