Pendulation suppression of a shipboard crane using fuzzy controller

We derive the nonlinear equations of motion for a shipboard crane equipped with the Maryland Rigging. We then develop a state-space model of the crane from an implicit description without simplifying assumptions. A chaotic rolling moment with a dominant frequency of the same order as the resonance frequency of the shipboard crane is applied as an external disturbance. The effect of the disturbance is studied. A fuzzy controller is then designed and tested for this shipboard crane. In this fuzzy controller the change in the length of the rope is the control action, while the friction in the pulley is assumed negligible. The results for this controller show a big decrease in the pendulation magnitude as compared to the cases with no control