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