Asymmetrical S-curve for residual load sways suppression for double-pendulum rotary crane using bayesian optimization
Year: 2026
Type: article
Abstract: In rotary crane operations, one of the main difficulties lies in suppressing the load sway during its movement. This can be achieved using only horizontal boom motion, offering a solution that is energy-saving, simple, and safe. However, this approach renders the system under actuated, making the suppression objective more difficult to achieve. In this study, a double-pendulum model is adopted to capture the coupled dynamics of the suspended load and hook, which shows a realistic basis for sway suppression. An asymmetric S-curve velocity trajectory is proposed to shape the horizontal boom motion, effectively minimizing residual vibrations without requiring direct sway measurement. Optimal shaping parameters are determined using a Bayesian optimization. Comparative simulations show that the proposed asymmetric profile is superior to symmetric S-curves in suppressing load sway for all the sway angles by about 42% on the settling time, demonstrating the effectiveness for practical rotary crane operations
Source: Tanzania Journal of Science
Author: Haryson Johanes Nyobuya
Institution: University of Dar es Salaam
Language: English
Subfield: Control and Systems Engineering
Field: Engineering
Domain: Physical Sciences
Open Access status: diamond
OpenAlex ID: W7149317313
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