Energy Shaping Based Nonlinear Anti-Swing Controller for Double-Pendulum Rotary Crane with Distributed-Mass Beams

Rotary cranes usually transfer the heavy mass and large payloads with distributed mass beam in practice. As a typical underactuated system, the dynamic model is very complicated and challenging due to the actuated boom luffing motion and underactuated distributed mass beam payload swing vibration. To simplify the dynamic model, the existing control method regards the payload as the mass point, which ignores the geometry of the payload. This paper proposes an energy shaping based nonlinear anti-swing controller for double-pendulum rotary crane with distributed-mass beams. The rotary crane dynamic model is established based on the Lagrange’s method. After analysis the energy function, a nonlinear anti-swing controller is designed for the rotary crane. It successfully solves the boom positioning and payload anti-swing problems with a distributed mass beam payload. LaSalle’s invariance theorem and Lyapunov technology are helped to analysis the stability of the rotary crane control system. Finally, the proposed controller shows effective and robust control performance in the simulation verification.