Control of overhead crane based on Lyapunov approach to fuzzy controller synthesis

The subject of the paper is synthesis of a robust controller of the load swing during motion of overhead cranes. The approach implements fuzzy partition to the state variables. Stability is secured by employing the Lyapunov theory. The proposed methodology is the most appropriate for the presented problem since exact knowledge about the plant parameters is not needed. Numerical tests show the feasibility of the control scheme.