Fixed-order gain-scheduling control of overhead bridge cranes

M. Ermidoro, A.L. Cologni, S. Formentin, F. Previdi

Acceleration and deceleration in overhead cranes may induce undesirable load swinging, which is unsafe
for the surrounding human operators. In this paper, it is shown that such oscillatory behavior depends
on the length of the rope and thus a gain-scheduling control law is proposed to reduce such an effect.
Specifically, to take into account the technological limits in the controller implementation, a fixed-order
controller is tuned, by also enforcing robustness and performance constraints. The proposed strategy is
experimentally tested on a real bridge crane and compared to a time-invariant solution.