Distributed Anti-sway Control for Multi-crane Cooperation

In this work, we have studied the distributed antisway control for the multi-crane cooperation.We have introduced our distributed material handling platform and derived dynamics of the multi-crane lifting and moving with a common load. To eliminate the sway motion of the common load, we have proposed a novel anti-sway control logic in the fully distributed manner. The control law has been drawn from the asymptotic consensus protocol and validated by numerical simulations. The simulation results show that the proposed distributed control law reduces the load sway motion at the destination and its performance comes close to the centralized control.