A method is proposed for the suppression of the sway of rotary crane payloads. The proposed method is based just on the preprocessing of all the commanded crane inputs by a properly designed FIR filter. A four-Degrees-Of-Freedom (4-DOF) model for the rotary crane system is considered, incorporating both the hoisting and the slewing motions, and is thus able to handle also cases where hoisting can be simultaneously applied to the rotary motion. Although the resulting dynamic system is strongly non-linear and time varying, the method is shown to effectively suppress in a quite robust, time and energy efficient way, both the transient as well as the residual sway of the payload. Moreover, additional advantages of the proposed method are that no dynamic modeling of the crane is required, and that the applicability of the method is quite easy and general, without the necessity of any additional instrumentation and control equipment.
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