Noncolocated Passivity-Based Control of a 2 DOF Tower Crane with a Flexible Hoist Cable

Ping-Yen Shen, Ryan James Caverly

Research output: Chapter in Book/Report/Conference proceedingConference contribution

7 Scopus citations


This paper presents a dynamic model of a two-dimensional tower crane, including a Rayleigh-Ritz discretization of the crane's flexible hoist cable, and proposes a passivity-based control approach for payload trajectory tracking using the μ-tip rate. It is assumed that the crane's payload is massive, which allows for a decoupling of the rigid and elastic system dynamics. It is shown that the crane features a passive input-output mapping from modified force and torque inputs to a modified output formed using the position and velocity tracking errors of the payload. An input strictly passive derivative controller is proposed, which results in the velocity tracking error and the μ-tip position error of the payload converging to zero. A numerical example is presented that demonstrates the controller's performance when the payload is to track an agile trajectory.

Original languageEnglish (US)
Title of host publication2020 American Control Conference, ACC 2020
PublisherInstitute of Electrical and Electronics Engineers Inc.
Number of pages6
ISBN (Electronic)9781538682661
StatePublished - Jul 2020
Event2020 American Control Conference, ACC 2020 - Denver, United States
Duration: Jul 1 2020Jul 3 2020

Publication series

NameProceedings of the American Control Conference
ISSN (Print)0743-1619


Conference2020 American Control Conference, ACC 2020
Country/TerritoryUnited States

Bibliographical note

Funding Information:
This work was supported in part by a study grant from Chung-Cheng Institute of Technology, National Defense University, Taiwan (R.O.C.).

Publisher Copyright:
© 2020 AACC.


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