Robust Feedforward Control for a Rotary Crane by Utilizing Gaussian Function

Abstract

This paper presents a proposal for a robust feedforward control technique for a rotary crane to suppress residual vibrations in point-to-point (PTP) motion. In the proposed method, the trajectory profile of the PTP motion is generated through a cycloidal function whose input is the output of Gaussian functions. The obtained trajectory is dependent upon the coefficients of the Gaussian functions. To achieve the suppression of the residual vibrations even if the load position of the rotary crane varies, the coefficients are tuned by metaheuristic algorithms. By driving the boom of the rotary crane along the obtained optimal trajectory, the antisway motion can be realized after the PTP motion. The simulation and experimental results are compared with those of the previous study, revealing the effectiveness of the proposed method.