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Anti-swing control of a suspended load with a robotic crane

This paper presents a feedback control algorithm for a robotic crane carrying a suspended load. The proposed controller suppresses the swing motion of the load while the crane carries the load to a desired position. The analysis includes the nonlinear dynamics of the crane and 2D swing motion of the load, but the controller does not require the exact model of the crane nor payload. Using joint acceleration and one sampled delay torque, the crane system is decoupled and then a linear controller is designed for both the crane motion and the load swing independently. Stability of the controller is proved and a simulation study is performed to show its effectiveness.