Fuzzy crane control with sensorless payload deflection feedback for vibration reduction

• The fuzzy logic-based discrete-time crane control scheme for reduction of the residual vibration of a payload is proposed.
• The sensorless control approach for payload vibration reduction is based on the feedback signal of payload deflection estimated by a pendulum model.
• The fuzzy system is used to interpolate the controllers and a pendulum model parameters with respect to the rope length and mass of a payload variation.
• The interval analysis of closed-loop characteristic polynomial coefficients and pole placement method is applied to design the fuzzy scheduler.
• The results of experiments conducted on the laboratory scaled overhead crane are presented.

Different types of cranes are widely used for shifting cargoes in building sites, shipping yards, container terminals and many manufacturing segments where the problem of fast and precise transferring a payload suspended on the ropes with oscillations reduction is frequently important to enhance the productivity, efficiency and safety. The paper presents the fuzzy logic-based robust feedback anti-sway control system which can be applicable either with or without a sensor of sway angle of a payload. The discrete-time control approach is based on the fuzzy interpolation of the controllers and crane dynamic model's parameters with respect to the varying rope length and mass of a payload. The iterative procedure combining a pole placement method and interval analysis of closed-loop characteristic polynomial coefficients is proposed to design the robust control scheme. The sensorless anti-sway control application developed with using PAC system with RX3i controller was verified on the laboratory scaled overhead crane.