Advantages of smooth trajectory tracking as crane anti-swing schemes

Payload swing is a key problem in industrial crane applications. Here, we formulate an anti-swing control for crane tasks as a smooth trajectory tracking problem. First, we introduce a family of trajectories that suit typical crane tasks and specifications and show how to derive the desired internal dynamics using an algebraic formula. Next, we design an exact output tracking controller (illustrated on a 2 d.o.f. overhead crane). Then, we compare a range of different controllers based on simulations. The results show that no undesirable swings of the payload and overshoot of the trolley exist in the tracking scheme while meeting the specifications when the others fail.