Fuzzy motion control of an auto-warehousing crane system

Chunshien Li, Chun Yi Lee

Research output: Contribution to journalArticlepeer-review

35 Scopus citations


Fuzzy motion control of an auto-warehousing crane system is presented in this paper. Using the concept of linguistic variable, a fuzzy logic controller (FLC) can convert the knowledge and experience of an expert into an automatic control strategy. The designed FLC with a rule base and three sets of parameters is used to control the crane system in x, y, and z directions. The unloaded weight and the fully loaded weight of the crane system in discussion are 1.35 × 104 kg and 1.5 × 104 kg, respectively. For various loading conditions and varying distances, the FLC still controls the crane system very well with positioning accuracy less than 2 × 10-3 m for all directions. The distance-speed reference curve for control of the crane system is designed to meet the engineering specifications of motion such as acceleration, deceleration, maximum speed, and creep speed in each direction, and is generated automatically according to varying distance. The method for designing the distance-speed reference curve can make the crane move at relatively high speed to approach the target position. Simulations of the motion control in the three directions are demonstrated.

Original languageEnglish
Pages (from-to)983-994
Number of pages12
JournalIEEE Transactions on Industrial Electronics
Issue number5
StatePublished - Oct 2001


  • Auto-warehousing crane system
  • Distance-speed control
  • Fuzzy logic controller
  • Motion control
  • Positioning accuracy


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