Optimal delayed control for an overhead crane

This note studies a delayed control approach (open and closed loop) in order to attenuate the oscillations of a three degrees of freedom (3DOF) overhead crane system. The proposed control schemes have the capability of attenuate the oscillations during the travel phase and eliminated them at the end point. Both control schemes give us simple expressions for the optimal control parameters. We compared our results with numerical simulations and performed experiments over a laboratory overhead crane.