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Background <p>Double‑pendulum overhead cranes exhibit complex dynamics that make sway suppression challenging during fast maneuvers.</p> Objective <p>This work introduces a smooth, closed‑form command approach using Bézier curves to generate trolley acceleration with adjustable maneuvering time.</p> Methods <p>The payload angle is represented by a continuous Bézier curve, allowing trolley acceleration to be computed algebraically. The proposed Bézier Shaper (BS) is evaluated through simulations against Time‑Optimal Rigid‑Body (TORB) and Zero‑Vibration (ZV) shapers, and validated experimentally using a 3‑DOF Quanser tower crane. Robustness is assessed via sensitivity analysis under parameter uncertainties.</p> Results <p>BS achieves sway suppression comparable to ZV while providing significantly smoother acceleration inputs, improving safety and operation quality. It remains effective across wide variations in crane mass and length ratios.</p> Conclusion <p>The Bézier‑based method offers a simple, smooth, and robust command-generation strategy that enhances safety and efficiency in overhead crane operations.</p>

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Inverse Design of Smooth Command for Double Pendulum Overhead Cranes Using Bézier Curve

  • 期刊论文

  • 发表日期：

    2026年3月20日

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  • Abdulaziz Alfadhli,
  • Zahraa Allouche,
  • Emad Khorshid

摘要

Background

Double‑pendulum overhead cranes exhibit complex dynamics that make sway suppression challenging during fast maneuvers.

Objective

This work introduces a smooth, closed‑form command approach using Bézier curves to generate trolley acceleration with adjustable maneuvering time.

Methods

The payload angle is represented by a continuous Bézier curve, allowing trolley acceleration to be computed algebraically. The proposed Bézier Shaper (BS) is evaluated through simulations against Time‑Optimal Rigid‑Body (TORB) and Zero‑Vibration (ZV) shapers, and validated experimentally using a 3‑DOF Quanser tower crane. Robustness is assessed via sensitivity analysis under parameter uncertainties.

Results

BS achieves sway suppression comparable to ZV while providing significantly smoother acceleration inputs, improving safety and operation quality. It remains effective across wide variations in crane mass and length ratios.

Conclusion

The Bézier‑based method offers a simple, smooth, and robust command-generation strategy that enhances safety and efficiency in overhead crane operations.