https://hal-centralesupelec.archives-ouvertes.fr/hal-03108536Kuře, MatějMatějKuřeCTU/FME - Faculty of Mechanical Engineering [Prague] - CTU - Czech Technical University in PragueBušek, JaroslavJaroslavBušekCTU/FME - Faculty of Mechanical Engineering [Prague] - CTU - Czech Technical University in PragueVyhlidal, TomasTomasVyhlidalCTU/FME - Faculty of Mechanical Engineering [Prague] - CTU - Czech Technical University in PragueNiculescu, Silviu-IulianSilviu-IulianNiculescuDISCO - Dynamical Interconnected Systems in COmplex Environments - Inria Saclay - Ile de France - Inria - Institut National de Recherche en Informatique et en Automatique - L2S - Laboratoire des signaux et systèmes - CentraleSupélec - Université Paris-Saclay - CNRS - Centre National de la Recherche ScientifiqueAlgorithms for cable-suspended payload sway damping by vertical motion of the pivot baseHAL CCSD2021Anti-sway control systemSuspended loadNonlinear controlTime delayLyapunov methodMechatronic system[SPI] Engineering Sciences [physics]LE PIOLET, DELPHINE2021-05-06 10:59:022022-10-25 16:17:122021-05-06 13:38:57enJournal articleshttps://hal-centralesupelec.archives-ouvertes.fr/hal-03108536/document10.1016/j.ymssp.2020.107131application/pdf1The solution of a case study problem of suspended payload sway damping by moving a pivot base in vertical direction is presented. Unlike for the classical problem of anti-sway control for moving the base in the horizontal direction, implemented e.g. in cranes, a direct solution by using control feedback theory for linear systems is not possible. Once the model is linearized, it becomes uncontrollable. Thus, a derivation of a nonlinear controller is needed to solve the task. In this context, two solutions are proposed. The first solution is based on imposing harmonic motion of the base with double frequency of the payload natural frequency. Synchronization of the base and the payload deflection angle is done either by proportional time-delay controller or by proportional-derivative delay free controller. Secondly, the Lyapunov’s second method is directly applied to derive a nonlinear controller. For both cases, balancing the dissipated energy, rules for determining equivalent damping are explicitly derived. After discussing and solving the corresponding implementation aspects, both simulation and experimental validations are performed. The experimental validation is performed on a simplified problem, where only horizontal motion is possible. The simulation based validation is performed on a nonlinear two dimensional model of a quadcopter carrying a suspended payload.