This paper proposes a new approach for the antswing control of overhead cranes, where a modelbased control scheme is designed based on the Lyapunov stability theorem. The proposed control is free from the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. This paper also proposes a practical trajectory generation method based on the concepts of minimum-time control and anti-swing control; the proposed method generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.
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