Generalized ”Twisting” controller of a parametrically excited crane

We consider the problem of designing a generalized ”Twisting” controller to avoid the parametric resonance effect and to attenuate the load oscillations in a parametrically excited crane, ensuring fast and precise load transfer during the load movement despite of model uncertainties and unmodeled dynamic actuators. The proposed vector Lyapunov approach offers a very flexible mechanism since each function can satisfies less rigid requirements. We present simulations and experiments.