Abstract:  In order to solve the position control and anti swing control in the horizontal movement of overhead
crane, we used Lagrange equation to establish its nonlinear mathematical model, and designed PD (Proportional
Differential) controller and ADRC (Auto Disturbances Rejection Controller). The parameters were optimized by
artificial fish swarm algorithm, overcoming the complexity of trial and error method. The controller was tested by
simulation experiment, the simulation results showed that this controller system could effectively decreases
winging angle of the load, and had strong robustness to system parameter svariation and swinging angle
disturbance.

Key words:  overhead crane, artificial fish swarm algorithm, anti swing, auto disturbances rejection controller