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Hybrid Control for an Overhead Crane

One of the common industrial structures that are used widely in many harbors and factories are overhead crane. Overhead cranes are usually operated manually or by some conventional control methods. In this study, a new combination of nonlinear backstepping scheme with fuzzy system is presented to control both position regulation and anti-swing control to avoid collision with other equipments. This study uses two different fuzzy systems: off-line and on-line to consider different concept. The backstepping design procedure consists of two steps. In all steps to design backstepping controller, Lyapunov stability theorem is used to stability analysis and control design problems. Furthermore, the stability of the overhead crane with nonlinear fuzzy backstepping controller is discussed. Simulation results illustrated the validity of the proposed control algorithm. 
 
   
 
 Key words: On-line fuzzy design, off-line fuzzy design, backstepping method, over head crane.