APPLICATION A PASSIVE CONTROLLER COMBINED EXTENTED STATE OBSERVER FOR CRANE WITH DOUBLE PENDULUM EFFECT

Abstract

The study proposes a passive controller combined with a state observer for
the double pendulum crane system. The dynamics of the system are built by
applying the Euler-Lagrange equation. Based on the equation of dynamics, a
controller is built that allows the system to move the load to the desired position
while reducing vibration. The controller ensures stability according to Lyapunov
standards. Simulation is performed to validate the accuracy and efficiency of the
controller. Due to the position accuracy requirements, slight oscillation angle, and
transit time of the crane, the controller must be of high quality and suitable for
each system.