Autonomous Crane Control (Anti-Swing Controller)

The main objective for this project is to design controller forthe3DCrane Model that
helps to overcome the swinging phenomena during the movement of the crane. 3D
Crane model is a simulation or a mini model of the real life autonomous gantry crane
that industries, suchas portand factories, usesto carries heavy loads. Cranes behavior
is similar to pendulum where movement and friction on the load will create a
swinging effect on it. In these industries, swinging of the load will affected their
productivity, efficiency and most importantly the safety. So by having a controller
that have the ability to overcome the swinging effect, this will optimize the
productivity, efficiency and also the safety. In designing the "anti-swing" controller, a
lot of problems encounter especially when dealing with 3 direction non-linear models.
To understand the 3D Crane Model's capability and ability also will take a lot of
time. This project will require knowledge in all types of controllers since the best
controller out of all the controllers are needed to be use. As for the first part of this
project, a PID controller is selected. Then a Fuzzy Controller are designed to compare
with PID Controller to see which has better accuracy and precision in reducing the
crane's swinging effect.