Further Results on the Fully Actuated System Approach to Control of Overhead Cranes

This study presents further results on the fully actuated (FA) system approach to anti-swing control of overhead cranes with unknown disturbances. Unlike the prior fully-actuated model we proposed, this study designs an auxiliary function and constructs a new alternative FA system for underactuated overhead cranes, which simplifies the development of both the control law and the disturbance observer simultaneously. To further suppress system oscillations, we also introduce a term related to the swing angle in the controller. This FA model allows us to utilize existing linear system theory to design feedback control laws directly, as well as the disturbance observer to estimate unknown disturbances. A series of comparative simulations and robustness verification have been conducted to confirm the effectiveness and advantages of the proposed control framework.