Anti-sway and position control of crane system

We developed a new crane control system that has an accurate position control function with anti-sway of the hung object. The control system consists of two blocks. One is for anti-sway control, and the other is for position control. Each output of the control blocks is calculated individually based on a proposed method and serves as a velocity reference for a trolley of the crane. The anti-sway control we realized was based on the simple impedance control method. The position control is carried out by following the pattern that is calculated so that the trolley stops smoothly at the predetermined standstill position. We confirmed the effect of this controller through experiments.