Position Control And Anti-Swing Control Of Overhead Crane Using Optimal Control
A crane is a machine equipped with a hoist, wire ropes or chains which is mainly used both to lift and lower
materials and move them horizontally to different places. However the underactuated structure of the crane makes difficult to
control. The most important control requirement is to make the trolley position converge to desired position accurately with
less payload swing which otherwise hinders the precise positioning of the load. In the practical situations, however, the
achievement of both transporting trolley to target position and reducing payload sway is not always easy. The main objective
is to employ a linear quadratic regulator for controlling the trolley position and swing motion which give better performance
than simple PD and PID control. Moreover, the proposed method is then provided with disturbances and then compensated
with linear quadratic Gaussian controller.
Index Terms- Linear Quadratic Regulator (LQR), Linear Quadratic Gaussian (LQG), Overhead crane, Performance Index.