A segmented energy analysis-based approach for the regulation of overhead cranes

We present in this paper a novel segmented energy analysis-based approach for the regulation of underactuated 2-dimensional (2D) overhead cranes. Specifically, a new energy storage function is constructed via segmented analysis for the crane system. Subsequently, a novel energy coupling control law is put forward, and the closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle´s invariance theorem. Experimental results demonstrate that the proposed method, with less consumed energy, guarantees fast and accurate trolley locating while suppresses the payload swing angle, especially the residual swing, within a much smaller range when compared with traditional energy-based control strategies.