Simple energy based controllers with nonlinear coupled-dissipation terms for overhead crane systems

Two different control schemes suitable for closed-loop and open-loop operation of an overhead crane system are proposed. The first controller is a passivity based closed-loop PD controller suitably extended by a coupled-dissipation nonlinear term in order to provide substantial reduction of load oscillations. As it is proven in the paper, this additional controller increases the damping of the system and ensures asymptotic stability. Due to its very simple structure the coupled-dissipation controller is also used as a hidden controller part for the open-loop system operation. Both the closed-loop and open-loop controllers are evaluated through simulation results that verify their effectiveness on improving the system performance.