A new anti-swing control law for overhead crane systems

In this paper, a novel anti-swing control method is proposed for underactuated overhead crane systems, which is based on an improved damping signal constructed to suppress the payload swing. Specifically, to increase the anti-swing performance of overhead crane systems, an improved damping anti-swing signal introduced into the trolley motion is investigated based on a swing-related storage function. Consequently, a novel anti-swing control method is designed straightforwardly, and the equilibrium point of the overall closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle´s invariance theorem. Numerical simulation results are provided to demonstrate the feasibility and flexibility of the proposed control method as well as its robustness against parameter variations and uncertain disturbances.