A vision anti-sway control algorithm for container cranes

Abstract

In this paper, a control scheme is proposed for an automated container crane. The proposed control scheme includes position control (for the trolley) and sway control algorithms (for the payload) where PID control is used for position control and PD control is assigned for sway control. The proposed control scheme employs the feedback signal of the sway angle, which is acquired by a vision system. The idea to employ the vision system is to overcome the difficulty in installing a conventional sensor system for measuring the sway angle. Numerical simulations and experiments have been carried out to verify the effectiveness of the proposed control scheme.