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Virtual Mass Tuning of Overhead Cranes

par Asani, Zemerart;Nicotra, Marco ;Garone, Emanuele
Référence IEEE Control Systems Letters
Publication Publié, 2025-07-01

Article révisé par les pairs

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Résumé :

This paper introduces a novel control paradigm for improving the performance of existing control laws for overhead cranes. The proposed approach functionally replaces the suspended mass of the physical system with a suitably tuned virtual mass. The motivating principle behind this control paradigm is that the performance of many energy-based control laws for overhead cranes strongly depends on the mass of the suspended load. Using a simple tuning procedure to optimize the virtual mass, it is shown that the proposed approach can significantly boost the performance of energy-based control laws while preserving the underlying stability guarantees.