PID anti-sway control of crane based on double-step acceleration

To address the anti-sway control challenge of underactuated cranes, this work introduces a PID-based strategy that incorporates a double-step acceleration scheme. The dynamic behavior of load oscillations is examined through phase plane analysis, upon which the double-step acceleration is designed to preliminarily mitigate swing while guiding the trolley to the desired position. A feedback mechanism incorporating PID regulation is subsequently applied to enhance the robustness of the system, achieving consistent swing mitigation and precise trolley control regardless of the presence of external disturbances. The effectiveness and advantages of the proposed approach are validated through comparative numerical simulations.