**Prevention
of Load Sway by a Fuzzy Controller**

**Manual controls: Arrow Right
- increase the power; Arrow Left - decrease the power;
Space - stop the crane; Arrow Up - lift the load; Arrow Down - lower
the load;
Enter - lock the load.
**

**Open
Source Fuzzy Engine For Java
**

**Changes in the rules become
effective upon clicking on the "Fuzzy Control" button.
"Fuzzy Control" indicates errorless parsing and evaluation of the
rules.
"Fuzzy Control" indicates an error in the rules.**

**The fuzzy rules controlling
the crane can be changed at any time and will become effective upon the
next click on "Fuzzy Control" button. Three linguistic variables have
been defined: angle, distance and power. The linguistic variables
and membership functions cannot be changed interactively. **

**Unlike the FuzzyTech example
that works only in one direction of motion or Omron example
that utilizes complicated anti-sway rules, the given model employs two
very simple rules that compensate load sway at the distances close to
the destination. For each swing of the load, the crane's trolley is
moved in the swing direction to reduce the amplitude. The system's
behavior without the compensation for the load sway can be
observed by removing the last two rules in the set (last four lines in
the rule area). **

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