This paper addresses the automation problem of overhead cranes. A feedback control strategy is proposed so that the crane travel and hoisting or lowering motions are forced to track a given reference trajectory while killing the payload swing angle. Stability analysis is carried out using Lyapunov functions and it is shown that the equilibrium point of the crane system is asymptotically stable.

Issue Section:
Technical Briefs
Keywords:
cranes, tracking, feedback, vibration control, asymptotic stability, Lyapunov methods
Topics:
Cranes, Feedback, Gantry cranes, Stability, Trajectories (Physics), Equilibrium (Physics)
1.
De Wit
,
C. C.
,
Fixot
,
N.
, and
Astrom
,
K. J.
,
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,”
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,
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,”
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, and
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,
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Load Sway Control of Overhead Cranes with Load Hoisting Via Stability Analysis
,”
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Moustafa
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, and
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,
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,”
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5.
Moustafa, K. A. F., 2000, “Overhead Crane Automation Via Lyapunov Functions,” Proceedings, UKACC International Conference “CONTROL 2000,” University of Cambridge, UK, 4–7 Sept. 2000.
Copyright © 2001
 by ASME
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