The roof crane system is used for transporting a variable load to a target position. The load is hoisted and travelled by a rope, and in many cases, oscillation of the rope is then unavoidable. In this thesis, an algorithm for anti-swing control of the roof crane is proposed. For this, a velocity profile for anti-swing is first proposed. Then, in consideration of the nonlinearities within the system and the disturbances from the outside causing extra oscillations, a fuzzy logic controller based on the expert's control strategy is added to the velocity profile generator. Owing to the fuzzy logic controller, the overall control system is found to be more robust to the nonlinearities and disturbances. The experimental results show that the proposeded algorithm reduces oscillations and is effectively applicable to automation of the roof crane system.
