A model-based anti-swing control of overhead cranes with high hoisting speeds

Proposes an approach for the anti-swing control of overhead cranes, where a model-based control scheme is designed based on the Lyapunov stability theorem. The proposed control is free from the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The paper also proposes a practical trajectory generation method based on the concepts of minimum-time control and anti-swing control; the proposed method generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.