Decoupling control for a gantry crane with an actuated load

In industrial production, gantry cranes are widely used for handling of large loads. Due to their wide availability, it seems desirable to use them for positioning of measurement hardware in an aerospace application. A special measurement gondola with an actuator that can rotate in two axes is attached to the crane hook and shall be controlled such that its position and orientation can be varied in any way. This contribution focuses on oscillations of the crane rope and the attached gondola in one vertical plane. For this, a decoupling control is designed such that different motions can be independently driven by the user.