A new anti-swing control law for overhead crane systems

Abstract

In this paper, a novel anti-swing control method is proposed for underactuated overhead crane systems, which is based on an improved damping signal constructed to suppress the payload swing. Specifically, to increase the anti-swing performance of overhead crane systems, an improved damping anti-swing signal introduced into the trolley motion is investigated based on a swing-related storage function. Consequently, a novel anti-swing control method is designed straightforwardly, and the equilibrium point of the overall closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle's invariance theorem. Numerical simulation results are provided to demonstrate the feasibility and flexibility of the proposed control method as well as its robustness against parameter variations and uncertain disturbances.