Robust load transport by an overhead crane with respect to cable length uncertainties

Abstract

We exploit a Fourier method to inverse engineer fast load transport protocols for an overhead crane, which is robust with respect to the deviation of cable length, corresponding to an ideal value. In the small oscillations regime, the protocols guarantee final adiabatic energies, i.e. null excitation with respect to the initial energy, regardless of the initial conditions. We demonstrate with calculations for the exact dynamics the stability of this result.