Dynamic Modeling and Anti-swing Control of Double Pendulum Payload System of Overhead Crane

In this paper, an anti-swing controller for a double pendulum payload system is proposed using the method of backstepping based on dynamic models. Lagrange equations are used to derive the dynamic equations of the overhead crane payload system in a 2-dimensional plane, which provides an elegant clean form for developing the controller. The anti-swing control system, as well as the simulations, is implemented in real-time via the software tool MATLAB/Simulink. The results prove that the proposed controller can effectively help the system eliminate the induced swing of the payload system in a short period.