Adaptive tackling of the swinging problem for a 2 DOF crane - Payload system

József K. Tar, Imre J. Rudas, János F. Bitó, José A.Tenreiro MacHado, Krzysztof R. Kozłowski

Research output: Chapter in Book/Report/Conference proceedingChapter

5 Citations (Scopus)


The control of a crane carrying its payload by an elastic string corresponds to a task in which precise, indirect control of a subsystem dynamically coupled to a directly controllable subsystem is needed. This task is interesting since the coupled degree of freedom has little damping and it is apt to keep swinging accordingly. The traditional approaches apply the input shaping technology to assist the human operator responsible for the manipulation task. In the present paper a novel adaptive approach applying fixed point transformations based iterations having local basin of attraction is proposed to simultaneously tackle the problems originating from the imprecise dynamic model available for the system to be controlled and the swinging problem, too. The most important phenomenological properties of this approach are also discussed. The control considers the 4th time-derivative of the trajectory of the payload. The operation of the proposed control is illustrated via simulation results.

Original languageEnglish
Title of host publicationComputational Intelligence in Engineering
EditorsImre Rudas
Number of pages12
Publication statusPublished - Nov 3 2010

Publication series

NameStudies in Computational Intelligence
ISSN (Print)1860-949X



  • Adaptive Control
  • Cauchy Sequences
  • Fixed Point Transformations
  • Iterative Learning
  • Local Basin of Attraction

ASJC Scopus subject areas

  • Artificial Intelligence

Cite this

Tar, J. K., Rudas, I. J., Bitó, J. F., MacHado, J. A. T., & Kozłowski, K. R. (2010). Adaptive tackling of the swinging problem for a 2 DOF crane - Payload system. In I. Rudas (Ed.), Computational Intelligence in Engineering (pp. 103-114). (Studies in Computational Intelligence; Vol. 313).