Overhead cranes fuzzy control design with deadzone compensation

This article proposes a simple but effective way to control 3D overhead crane. The proposed method uses PID control at the start for rapid transportation and fuzzy control with deadzone compensation when the crane is close to the goal for precise positioning and moving the load smoothly. Only the remaining distance and projection of swing angle are applied to design the fuzzy controller. No plant information of crane is necessary in this approach. Therefore, the proposed method greatly reduces the computational efforts. Several experiments illustrated the encouraging effectiveness of the proposed method through a scaled 3D crane model. The nonlinear disturbance, such as abrupt collision, is also taken into account to check the robustness of the proposed method.