A novel anti-swing and position control method for overhead crane

Abstract

Based on Takagi–Sugeno fuzzy modeling and linear matrix inequality with decay rate, this article presents a novel anti-swing and position control scheme for overhead cranes. First, the simplified nonlinear dynamic model is proposed by adopting a virtual control variable method to reduce the number of nonlinear terms. Then, the Takagi–Sugeno fuzzy model is constructed using sector nonlinear technique, and the anti-swing and position controller of overhead crane is designed based on a linear matrix inequality with decay rate. Finally, the proposed control method is compared with the traditional Takagi–Sugeno fuzzy control method, and robustness of the system is discussed. The simulation results demonstrate that the proposed method is feasible and effective.