Publication Type:

Conference Paper


2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), IEEE, Kollam, India (2017)





anti-swing signal, antiswing compensation, antiswing control signal, compensation, Computers, Cranes, Damping, Fuzzy control, fuzzy-pid control, fuzzy-PID controller, loaded trolley position, Lyapunov based design, mathematical model, motion control, nonlinear control systems, nonlinear intelligent controller, overhead crane, overheadcrane, Payloads, position control, position tracking, reduced payload swing, Stability analysis, swing control, three-term control, Transportation, trolleys, underactuated system, vibration control


Overhead cranes are most commonly used in the industries for the transportation of machineries and other payloads. The main objective is to make the loaded trolley position to the target region in minimum time with reduced payload swing. Usually this task is too hard in practical aspect because overhead crane is an under actuated system. In a normal overhead crane system energy of the system is damped as time goes on increasing, such damping can be improved by converging parameters related to the swing. In this paper a new method of nonlinear intelligent controller with antiswing compensation is discussed. A fuzzy PID controller is used for the position tracking and swing control is investigated based on an improved anti-swing signal derived from a swing related storage function. Proposed control is compared with linear controller and closed loop Lyapunov controller and shows improved response.

Cite this Research Publication

M. L. Anand and Jayasree, P. R., “Damping based anti-swing compensated fuzzy-PID controller for the overhead crane”, in 2017 International Conference on Circuit ,Power and Computing Technologies (ICCPCT), Kollam, India, 2017.