A hierarchical anti-swing control method based on end effector for 2D underactuated overhead cranes system

In this paper, a hierarchical anti-swing control scheme based on end effector is proposed for a two-dimensional overhead crane. The proposed control scheme consists of a passivity-based controller and a sliding mode controller. The passivity-based controller is used to suppress load swing and track virtual position, which will deduce desired crane acceleration. The sliding mode controller is used to control crane acceleration. The stability of the proposed closed-loop system is verified by using Lyapunov function and the LaSalle’s invariance theorem. The effectiveness of the proposed control scheme is shown by simulation results. Specifically, the proposed controller guarantees accurate control of crane position and swift suppression of load swing.