Enhanced damping-based anti-swing control method for underactuated overhead cranes

摘要

In this study, a novel enhanced anti-swing control method is proposed for underactuated overhead crane systems, which shows superior anti-swing control performance than most existing control methods. In particular, to increase the anti-swing control performance of overhead crane systems, an improved damping anti-swing signal is investigated based on a swing-related storage function. Subsequently, based on the anti-swing signal, a constructive Lyapunov function candidate is introduced and a new non-linear anti-swing control method is proposed straightforwardly, and the equilibrium point of the overall closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle's invariance theorem. Some experimental results are provided to demonstrate the feasibility and effectiveness of the proposed control method. In addition, to illustrate the superior control performance of the proposed method, a comparison study between the designed control method and the existing control methods is provided as well.