Gain Scheduled PD Sway Control of a Lifted Load for a Mobile Crane

The authors propose a new gain scheduled PD controller design scheme whose PD parameters are tuned corresponding to the jib length, the rope length, and the jib angle. As the jib angular acceleration is utilized as the control input, PD controller is employed, which removes the integral action from the PID controller. The PD parameters are adjusted in an online manner based on the pole-assignment control scheme. The effectiveness of the newly proposed PD control scheme is experimentally evaluated on the sway control system of a lifted load for a mobile crane.