Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

In the control research on the rotary crane systems with double-pendulum effect, a motion trajectory with both simple structure and excellent robust performance is proposed to achieve the positioning of the boom and the suppression of the load sway. The presented trajectory consists of an anti-swing component and a boom positioning component, where the first part is used to achieve the sway angle elimination without affecting boom positioning; the second one is used to move the boom to the desired location precisely. The Lyapunov technique, LaSalle’s invariance theorem, and Barbalat’s lemma are used to prove the excellent performance of the method. Eventually, the effectiveness of the proposed method was verified through a large amount of simulation data analysis.