Asymmetrical S-curve for residual load sways suppression for double-pendulum rotary crane using bayesian optimization

In rotary crane operations, one of the main difficulties lies in suppressing the load sway during its movement. This can be achieved using only horizontal boom motion, offering a solution that is energy-saving, simple, and safe. However, this approach renders the system under actuated, making the suppression objective more difficult to achieve. In this study, a double-pendulum model is adopted to capture the coupled dynamics of the suspended load and hook, which shows a realistic basis for sway suppression. An asymmetric S-curve velocity trajectory is proposed to shape the horizontal boom motion, effectively minimizing residual vibrations without requiring direct sway measurement. Optimal shaping parameters are determined using a Bayesian optimization. Comparative simulations show that the proposed asymmetric profile is superior to symmetric S-curves in suppressing load sway for all the sway angles by about 42% on the settling time, demonstrating the effectiveness for practical rotary crane operations