Amplitude-Saturated Nonlinear Output Feedback Antiswing Control for Underactuated Cranes With Double-Pendulum Cargo Dynamics

Abstract

When modeling cranes, the hook and the suspended cargo are usually regarded roughly as one mass point for simplicity, i.e., the cargo swing is modeled as that of a single pendulum. However, in practice, when the hook mass is nonnegligible or the cargo has a large size, the crane always exhibits double-pendulum swing dynamics, which is much more complicated and makes most existing control methods unapplicable. In addition, all existing closed-loop controllers for (double-pendulum) cranes require full state feedback, while velocities are unavailable in most cases. Moreover, they need to linearize the nonlinear crane model and cannot respect the actuator's practical saturation constraint, which may probably lead to actuator saturation and badly degrade the control performance (even unstable). In response to these practical issues, we suggest a novel amplitude-saturated output feedback (OFB) control approach for underactuated crane systems exhibiting double-pendulum effects. We provide explicit Lyapunov-based analysis to rigorously prove that the equilibrium point of the closed-loop system is almost globally asymptotically stable, without any approximation to the original nonlinear dynamics. As far as we know, this paper presents the first closed-loop control method that can achieve control for an underactuated double-pendulum crane with merely OFB and theoretically-guaranteed saturated control efforts. Hardware experimental results demonstrate the superior performance of the proposed approach over existing methods and its strong robustness as well.