Experimental study of anti-swing crane control for a varying load

This paper presents an experimental study of anti-swing control for a robotic crane carrying a suspended varying load. The anti-swing controller is based on swing angle feedback, and the controller suppresses the swing motion of the load while the crane carries the load to a desired location. The analysis includes the nonlinear dynamics of the crane and two-dimensional swing motion. A simulation study is performed to show the effectiveness of the swing angle feedback controller compared with Proportional and Derivative (PD) and full state feedback controllers. Also, the anti-swing controllers are successfully implemented on an actual test bed. The experimental study demonstrates that the proposed swing angle feedhack controller performs better in terms of the robustness to the payload change.

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