FUZZY CONTROL SCHEME FOR TWO OVERHEAD CRANES WITH THREE DEGREES OF FREEDOM

This paper presents development of fuzzy logic control scheme for positioning tow overhead cranes acting in the same work space and minimizing the sway of the payloads when the system is in motion. Proportional-Derivative (PD)-type fuzzy logic controllers are developed to move the payload to the target location to achieve accurate positioning and minimum sway. The system is realized within the Visual Nastran (vn4d) software environment, and integrated with Matlab-Simulink for analysis and control purposes. Simulation results are then presented in time domain to assess the effectiveness of the control approach. It is demonstrated that accurate positioning and significant reduction in the system sway is achieved.