Passivity-Based Approach for Overhead Crane Anti-Sway Controller Design

Abstract

This research proposes a new anti-sway controller design using a passivity-based approach for overhead cranes. The cranes are modeled as a single-pendulum system. The dynamics of the system are obtained by using the principle of Lagrangian mechanics. The passivity of the crane model is derived and utilized, in conjunction with the Lyapunov's second method, to create the new anti-sway controller. The control objective is to track the velocity profile and reduce the load sway during transportation, and to reach the optimal performance of the closed loop system, Particle Swarm Optimization (PSO) is applied for the controller tuning. The simulation results reveal that the proposed controller can successfully track the given profile and suppress the load vibration.