Passivity-based-control for double-pendulum-type overhead cranes

The overhead crane exhibits double-pendulum dynamics because of the large-mass hook. The nonlinear dynamic model of the double-pendulum-type overhead crane is built with Lagrangian method. Several properties of the system model such as the underactuated property, the passivity and its two nature frequencies are analyzed. A passivity-based control method is proposed for double-pendulum-type overhead crane. The method can greatly reduce the number of system states that need measured. Simulation results illustrate the complex system dynamics of the double-pendulum-type overhead crane and validity of the proposed control algorithm.