Anti-swing and position control for bridge cranes by BVP arithmetic

The anti-swing problem of the bridge cranes is discussed, and the anti-swing and position control strategy based on BVP arithmetic is presented. The anti-swing and position control programming of bridge cranes can be transformed into the two-point boundary value problem (BVP) of nonlinear systems. According to the boundary conditions of the anti-swing and position process, the tractive force function of Fouries series form with free parameters is constructed. The BVP is solved with the bvp4c function in Matlab toolbox, and the tractive force sequence is obtained. The anti-swing and position control process of bridge cranes belongs to open-loop feedforward control essentially. The simulation of anti-swing and position control process illustrates the effectivity of the control strategy.