An anti-swingtrajectory control of overhead cranes with high-speed hoisting

Abstract

This paper proposes a new approach for the anti-swing control of overhead cranes, where a coupling control of trolley motion and load swing is adopted for sufficient damping of load swing. A model-based anti-swing trajectory control scheme is designed based on Lyapunov stability theorem, where the stable nonminimum-phase characteristics of the load swing dynamics are used for stability proof. The proposed control guarantees asymptotic stability of the anti-swing trajectory control while keeping all internal signals bounded. In addition, the anti-swing control is solved as a trajectory control problem and hence the proposed control realizes an antiswing control along a typical anti-swing trajectory in practice, which is considered to be the most efficient anti-swing control. Finally, the theoretical results are proven by computer simulation.