Advanced Predictive Model Controller Applied to Crane Model with Double Pendulum Effect

Abstract

This study proposes a predictive model controller based on Lyapunov for a double pendulum crane system with variable sling length. The dynamics of the system are built by applying the Euler-Lagrange method. Based on the dynamic equation, a quadratic sliding mode control moves the load to the desired position while reducing the vibration when the rope length changes. However, the input states of the unit control and the control force are not strictly controlled. The controller ensures stability through the Lyapunov inequality constraint. 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 to adapt to the nonlinear external influences, in addition to causing undesired oscillations.