Optimal delayed control for an overhead crane

Abstract

This note studies a delayed control approach (open and closed loop) in order to attenuate the oscillations of a three degrees of freedom (3DOF) overhead crane system. The proposed control schemes have the capability of attenuate the oscillations during the travel phase and eliminated them at the end point. Both control schemes give us simple expressions for the optimal control parameters. We compared our results with numerical simulations and performed experiments over a laboratory overhead crane.

Modeling and control of overhead cranes: A tutorial overview and perspectives

“…• The design or modification of the reference velocity and its effect on the sway reduction has not been considered in this work. Such methods, e.g., using notch filters, smoothing the reference trajectory, delayed feedback [257], path planning [237,231], and flatness theory can be integrated with the majority of the controllers developed in this work to achieve a better sway reduction. Such integration remains for future works.…”