Anti-swing switching control for overhead container crane

Anti-swing switching control for overhead crane, which belongs to a kind of underactuated system, is presented. We analyses the mutual relationship between the swing angle of the load and the acceleration of the trolley according to the mathematic model of trolley and load swing. We introduce the swing angle signal to build a closed-loop control system. To eliminate the swing angle, velocity-switching instruction of the trolley is given based on the swing angel. The computer simulations and experiments with the laboratory-size model of the container crane system verify the efficiency of the proposed method.