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Inspired by the desire to achieve fast payload transportation as well as sufficient swing suppression, a novel phase plane based motion planning method is proposed for underactuated overhead cranes. Specifically, the variation law of the underactuated system states in the phase plane is firstly derived via mathematical analysis for the phase portraits. Based on this, an analytical three-segment acceleration...
We present in this paper a novel segmented energy analysis-based approach for the regulation of underactuated 2-dimensional (2D) overhead cranes. Specifically, a new energy storage function is constructed via segmented analysis for the crane system. Subsequently, a novel energy coupling control law is put forward, and the closed-loop system is proven to be asymptotically stable by Lyapunov techniques...
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