Anti-swing Control for Underactuated Crane under Disturbances
DOI:
https://doi.org/10.31181/jopi31202543Keywords:
Anti-swing Control, Underactuated Crane, Disturbances, StabilityAbstract
In practical applications, a crane must achieve both precise positioning and effective suppression of swing. However, these dual requirements often present a contradiction: the acceleration and deceleration of the trolley may induce oscillations in the swing angle. This phenomenon stems from the inherent complexity of crane dynamics. On the one hand, cranes exhibit underactuated characteristics, as only the trolley is equipped with an actuator, while no direct actuator controls the swing angle. On the other hand, cranes possess highly coupled nonlinear dynamics, where actuated and unactuated variables interact, increasing the complexity of control design. To address these challenges, this paper investigates anti-swing control for an overhead crane under disturbances. The proposed approach suppresses swing by coupling its integral information with the trolley position and introducing negative damping into the unactuated subsystem. To handle disturbances, both matched and mismatched disturbances are incorporated into the control channel and compensated through feedforward mechanisms. Theoretical analysis demonstrates that the designed control system is stable. Simulation results validate the effectiveness of the proposed approach.
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Copyright (c) 2025 Tong Song, Juan Guo (Author)
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