Comparative study on anti-swings control for double-pendulum-type crane systems

Abstract

Bridge cranes are commonly used for lifting equipment in industry. During operation, the vibration of the load affects operational productivity and causes unsafety in manufacturing. This paper presents some anti-swings methods applied to the double-pendulum-type 2D crane model with constant rope length including output feedback, sliding mode control and input preshaping. The comparative results these methods can be used to select and design the appropriate controller for industrial bridge cranes.

Keywords: Double pendulum type crane; Vibration suppression; Output feedback control; Sliding mode control; Input preshaping.