Interconnection and Damping Assignment Passivity-Based Control for Underactuated Overhead Cranes with Frictions

Due to its underactuated characteristics, the control difficulty of underactuated overhead cranes is greatly increased. In this paper, a control scheme based on interconnection and damping assignment passivity-based control method is proposed. First of all, in order to simplify the controller design, the overhead crane system is linearized at the origin. Then, a design technique is applied to interconnection and damping assignment passivity-based control method, which can simplify the partial differential equation of the potential energy. Finally, a controller is designed by using interconnection and damping assignment passivity-based control method. By designing an elegant controller, the swing of payload is suppressed and the trolley is adjusted to the desired destination of the overhead crane system. Via zero dynamics and Lyapunov stability theorems, the stability analysis is rigorously provided. Some simulation results are provided to prove the applicability of the proposed control scheme.