Modeling and anti-sway control method for vertical lift-up/lay-down process of slender-beam payload

The existing crane control methods mainly aim at suppressing the oscillation of the payloads during the transportation process. However, during the vertical lift-up/lay-down process of the slender-beam payload (SBP), such as the installation of the wind turbine towers, rocket assembly, and pipeline laying, one end of the SBP is lifted up and the other end is in contact with the ground. In this situation, the external disturbance may cause the SBP to sway around the contact point. In this paper, a nonlinear three-dimensional dynamic model for the vertical lift-up/lay-down process of the SBP is established. On this basis, a control method for suppressing oscillation during the lift-up/lay-down process of the SBP is proposed by adopting the non-singular terminal sliding mode control (NTSMC). The stability of the NTSMC is proved based on the Lyapunov method. Simulations and experiments are carried out to verify the effectiveness of the proposed method.