Active damping of container crane load swing by hoisting modulation — An LPV approach

This paper presents an approach to the damping of container crane load swing via hoisting modulation that is based on the application of linear parameter-varying (LPV) control techniques. The problem cannot be solved by linear time-invariant control as the coupling terms between the angular oscillation and hoisting modes - which are exploited in the control scheme - are entirely nonlinear, vanishing completely if the mathematical model is linearized around its equilibrium. Therefore a nonlinear control scheme is mandatory. In this paper, we propose a mixed sensitivity LPV controller synthesis based on a single Lyapunov function which guarantees stability and control performance over the whole parameter range. Simulation and experimental results are presented and compared to previous work based on the concept of resonant coupling control realized by a reduced normal form approach.