Enhanced damping-based anti-swing control method for underactuated overhead cranes

In this study, a novel enhanced anti-swing control method is proposed for underactuated overhead crane systems, which shows superior anti-swing control performance than most existing control methods. In particular, to increase the anti-swing control performance of overhead crane systems, an improved damping anti-swing signal is investigated based on a swing-related storage function. Subsequently, based on the anti-swing signal, a constructive Lyapunov function candidate is introduced and a new non-linear anti-swing control method is proposed straightforwardly, and the equilibrium point of the overall closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle´s invariance theorem. Some experimental results are provided to demonstrate the feasibility and effectiveness of the proposed control method. In addition, to illustrate the superior control performance of the proposed method, a comparison study between the designed control method and the existing control methods is provided as well.