Control of an underactuated double-pendulum overhead crane using improved model reference command shaping: Design, simulation and experiment

Abstract This paper presents a new control scheme based on model reference command shaping (MRCS) for an overhead crane, with double-pendulum mechanism effects. The approach has advantage in achieving accurate trolley positioning, low hook and payload oscillations, under various desired positions parameter uncertainties, without the requirement measurement or estimation of system parameters. These are challenging practice. previously developed MRCS algorithm is improved order to reduce its design complexity, as well ensure that it can be augmented feedback controller so concurrent tuning realised. combined used achieve both, precise oscillations. To evaluate effectiveness robustness approach, simulations experiments using nonlinear laboratory crane carried out. Under uncertainties involve varying cable lengths (payload hoisting) mass variations, superiority proposed confirmed by higher oscillation reductions when compared recently controller. In addition, achieved smoother responses.