Input shaping control for underactuated dual overhead crane system with holonomic constraints

As important transportation tools, cranes are playing a very important role in various industrial fields. However, as the cargoes grow larger and heavier, in many circumstances, they have to be delivered cooperatively by two cranes. Though frequently utilized, the research of such dual overhead crane system (DOCS) is still at a primary stage. In view of this, an input shaping control method is proposed for DOCS in this paper. Specifically, the holonomic constraints of the system are elaborately analyzed at first, and the model is simplified properly without losing much accuracy. Furthermore, the dynamic relationship between the trolley position and the payload swing angle is obtained. Based on that, several input shapers are designed by calculating the real oscillating period of the DOCS. The proposed method ensures good antiswing ability and satisfactory robustness against parameter uncertainties without affecting the payload positing accuracy. Simulation and experimental results also verify this point convincingly. © 2018, Editorial Department of Control Theory & Applications South China University of Technology. All right reserved.