Publications / 2024 Proceedings of the 41st ISARC, Lille, France

MPC-Based Proactive Swing Attenuation for Double-Pendulum Overhead Cranes

Juhao Su, Shichen Sun, Ching-Wei Chang, Siwei Chang
Pages 144-151 (2024 Proceedings of the 41st ISARC, Lille, France, ISBN 978-0-6458322-1-1, ISSN 2413-5844)
Abstract:

Overhead cranes, which are traditionally classified as underactuated systems, face a persistent challenge in balancing the assertiveness of trolley movement and the amplitude of the payload oscillation. This difficulty is exacerbated by the crane’s inherent double-pendulum characteristics. To improve the operational efficiency and fault tolerance of cranes when lifting large and heavy construction components, this research proposed a novel and proactive swing attenuation crane controlling approach. The method was designed to integrate two auxiliary control inputs extracted from the complex and coupled dynamics using a customized Model Predictive Controller (MPC). The performance of the proposed approach was validated by comparing it to common controllers such as the linear quadratic regulator (LQR) and sliding mode controller (SMC). It is proven that the proposed approach makes cranes more resilient to specific types of uncertainties and adverse conditions, resulting in safe, efficient, and intelligent overhead crane transportation.

Keywords: Double-Pendulum, Overhead Crane, MiC, Swing Attenuation, Proactive Hook-load Stabilization, MPC, SMC