Residual load sway reduction for double-pendulum overhead cranes using simple motion trajectory

An LMI‐Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double‐Pendulum Effect

“…On the other hand, too complicated algorithms were adopted in [35][36][37][38][39][40][41][42] to achieve good robust or adaptive performance. Moreover, different from the load sways of double-pendulum overhead cranes which were dealt with in the most existing literatures [27][28][29][30][31][32][33][34][35][36][37][38][39][40][41][42], the double pendulums in the rotary crane system are both conical pendulums, and the system characteristics are more complex. Hence, even if the similar algorithm shown in [38] is adopted, the method for calculating the controller gain is different.…”

“…Nonetheless, when the hook mass or load shape cannot be ignored, the load swing presents twostage swing. For this problem, open-loop methods such as input shaping technology [27][28][29][30][31][32], motion planning method [33,34], were presented. On the other hand, closed-loop methods were also reported in [35,36].…”

“…In conclusion, although open-loop approaches were introduced in [27][28][29][30][31][32][33][34], accurate crane models were always needed. On the other hand, too complicated algorithms were adopted in [35][36][37][38][39][40][41][42] to achieve good robust or adaptive performance.…”