1. 1. 2. 3. 4. © Anti-Swing Control Of Gantry And Tower Cranes Using Fuzzy And Time-Delayed Feedback With Friction Compensation Omar, HM; Nayfeh, AH IOS PRESS, SHOCK AND VIBRATION; pp: 73-89; Vol: 12 King Fahd University of Petroleum & Minerals http://www.kfupm.edu.sa Summary We designed a feedback controller to automate crane operations by controlling the load position and its swing. First, a PD tracking controller is designed to follow a prescribed trajectory. Then, another controller is added to the control loop to damp the load swing. The anti-swing controller is designed based on two techniques: a time- delayed feedback of the load swing angle and an anti-swing fuzzy logic controller (FLC). The rules of the FLC are generated by mapping the performance of the time- delayed feedback controller. The same mapping method used for generating the rules can be applied to mimic the performance of an expert operator. The control algorithms were designed for gantry cranes and then extended to tower cranes by considering the coupling between the translational and rotational motions. Experimental results show that the controller is effective in reducing load oscillations and transferring the load in a reasonable time. To experimentally validate the theory, we had to compensate for friction. To this end, we estimated the friction and then applied a control action to cancel it. The friction force was estimated by assuming a mathematical model and then estimating the model coefficients using an off-line identification technique, the method of least squares (LS). References: ABDELRAHMAN EM, 2003, J VIB CONTROL, V9, P863, DOI 10.1177/107754603031852 ALMOUSSA A, 2001, ASME 2001 DES ENG TE ARMSTRONGHELOUV.B, 1994, AUTOMATICA, V30, P1083 Copyright: King Fahd University of Petroleum & Minerals; http://www.kfupm.edu.sa

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