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Control Strategies for Double-Pendulum Overhead Cranes: FPGA-Based Real-Time Implementation and Comparative Performance Analysis
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DOI：10.1007/s40998-026-01024-3.png)
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Abstract
En 中文
The effective elimination of sway in overhead crane systems remains a major challenge for ensuring accuracy, safety, and operational efficiency in industrial settings. Given the inherent dynamic complexity of these systems, numerous advanced control strategies have been proposed. These range from conventional PID regulators to more sophisticated approaches like hybrid PID-LQR controllers, Linear Quadratic Regulators (LQR), and H-infinity controllers. This work presents a comprehensive comparative analysis of these control architectures. The evaluation was conducted both in an ideal simulation environment (Matlab/Simulink) and a realistic hardware context (Artix-7 AC701 FPGA), under both nominal conditions and continuous disturbances. The results demonstrate that while PID controllers offer a simple and efficient solution in the absence of disturbance, they struggle under perturbed conditions. Hybrid approaches, such as PID-LQR and LQR, improve the management of coupled dynamics and reduce steady-state error. However, they exhibit increased sensitivity to embedded hardware limitations, particularly on FPGAs, where energy consumption and residual errors rise significantly. Although designed for robustness, the H-infinity controller showed insufficient performance in the disturbed scenario studied. This study underscores that the choice of controller must be guided by a thorough understanding of the application requirements, the system's dynamic characteristics, and the constraints of the hardware implementation.
Keywords:
Double-Pendulum
PID control
LQR control
H infinity control
FPGA artix-7 AC701
Disturbance rejection
FPGA-in-the-Loop simulation
Journal
I
IF:
1.4
Papers:
178
Citations:
0