Trolley regulation and swing reduction of underactuated double-pendulum overhead cranes using fuzzy adaptive nonlinear control

Overhead crane is a kind of carrier, which is widely used in factory workshops, cargo loading and unloading and other occasions. The fast, accurate positioning and anti-sway of such cranes are of great significance to people's work efficiency and personal safety. Traditional positioning and anti-sway mainly rely on the operator's experience. It has problems such as low efficiency and poor security. At the same time, due to the uncertainty of the parameters in crane system, the design of the controller becomes extremely difficult. In order to solve these problems, a fuzzy adaptive nonlinear controller is designed and it has theoretical basis to prove that the global asymptotic stability of the system rigorously. Considering the actual situation and under the same control benchmark, the proposed adaptive nonlinear controller not only has better positioning performance and anti sway performance than the other two compared controllers experimentally, but also has strong robustness.

Automated summary

Traditional positioning and anti-sway of overhead cranes mainly rely on operator experience, leading to low efficiency and poor security. To address these issues, a fuzzy adaptive nonlinear controller has been designed, showing better performance and robustness in experimental comparisons.