Control of a suspended load using inertia rotors with traveling disturbance

Rotational control and swing suppression of a crane suspended load model with travelling disturbance are studied. A rotational free rigid body suspended by a single rope is controlled using three inertia rotors. The end-supporting-point of the single rope is forced to be travelled as disturbance. Control angles and angular velocities are derived from measured data of fiber optic gyros installed on the suspended load. Rotor angular velocities controlling the suspended load are obtained by integrating the computed digital sliding-mode control feedback accelerations based on the coupling system´s dynamics. Experiments and simulations investigate simultaneous control of the load´s rotational orientation and swing suppression for traveling disturbance.