Controlling of payload swinging of an overhead crane

Abstract A new two-level hierarchical approach to control the trolley position and payload swinging of an overhead crane is proposed. At first level, a simple mathematical pendulum model investigated considering time delay due use vision system. In second chain developed, extending previous vibration suspending chain. The relative displacement measured with sensor, rest state-space variables are determined by collocated observer. gain parameters related state pole placement method. proposed controller verified numerical simulation experimentally on laboratory test bench.