Journal of
Engineering and Computer Innovations

  • Abbreviation: J. Eng. Comput. Innov.
  • Language: English
  • ISSN: 2141-6508
  • DOI: 10.5897/JECI
  • Start Year: 2010
  • Published Articles: 32

Full Length Research Paper

Design of fuzzy PD-controlled overhead crane system with anti-swing compensation

Shebel Asad*, Maazouz Salahat, Mohammad Abu Zalata, Mohammad Alia and Ayman Al Rawashdeh
Department of Mechatronics, Faculty of Engineering Technology (FET), Al Balqa Applied University (BAU), P. O Box 15008. Amman - Jordan
Email: [email protected]

  •  Accepted: 24 February 2011
  •  Published: 30 March 2011



This work aimed to find a proper control strategy to transfer loads using overhead cranes. The proposed control strategy, which is Fuzzy PD-based, should take into account two main factors. First, the time needed to move the payload from the initial pick up point to the destination point that must be minimized. Secondly, the oscillation of the payload must be reduced to prevent hazards for people and equipment in the work place. The current work, presents a comparative analysis of fuzzy PD based control basing on classical PD approach. A simplified model has been derived. The proposed control techniques have been designed and validated with MatLab. Numerical comparative results have been obtained and discussed.


Key words: Crane, position control, anti-swing compensation, fuzzy PD- based control