Robust LQR Anti-Swing Control for Quay-Side Crane System with Variable Load

Abstract

Presently, quay-side cranes are playing more and more important roles in modern port logistics. The cargo-handling efficiency is the most important factor for ports. At present, most of the anti-swing operations of quay-side cranes are still depending on the trolley drivers, which is quite ineffective. It is a great challenge for automatic anti-swing tracking design for quay-side crane owing to mass variation of containers and heavy wind in the port, which bring about many challenges for the development of effective control schemes. In this paper, a dynamic model under generalized coordinate system has been built firstly and the system transfer function and the state space expression are obtained by a reasonable linearization. Aiming at tackling the problem of load mass change, a robust LQR state feedback controller is designed base on the standard LQR control and the Lyapunov theory in a variable load system. The numerical simulation results are included to prove that the presented controller can achieve satisfactory anti-swing and tracking performance with strong robustness against load mass variation.