Super-twisting-based antiswing control for underactuated double pendulum cranes

In the present paper, we suggest a novel robust control strategy for the control problem of double pendulum crane systems. More precisely, we first derive a reduced crane model that can well depict the original double pendulum dynamics. After that, a super-twisting-based nonlinear control law is presented, which can make the crane follow preset trajectories and eliminate the double pendulum swing angles. We include some numerical simulation results to examine the performance and robustness of the proposed method.