Anti-swing control of double-pendulum cranes integrating input shaper and nonlinear Quasi-PID scheme

Abstract

Mitigating swing and enhancing the adaptability have long been central concerns in crane automation. To address this issue, a novel integrated control strategy is proposed by combining the input shaping technique with an improved quasi-PID scheme, and it is applied to double-pendulum cranes. Specifically, the scheme employs full-angle feedback together with an extended state observer to estimate and adjust the payload swing, overcoming the difficulty of accurate swing sensing in practical applications. Meanwhile, the input shaping technique achieves pre-swing suppression by processing the initial acceleration signal. Notably, compared with some previous studies, this improved quasi-PID scheme refines the swing term, thereby strengthening residual swing suppression. Finally, a series of numerical simulations demonstrates that the proposed control strategy offers superior dynamic performance, enabling fast positioning and effective swing suppression.