On time-optimal anti-sway controller design for bridge cranes

In this paper, we analyze and discuss the time
optimal control problem for bridge cranes. Specifically, we employ the geometric approach introduced in [12] to address the
control issue without computing the analytic trajectory of the
costate. As a second contribution, we show that an alternative
approach based on a proportional controller accounting for
the limits of the control action can be tuned to resemble to
the time-optimal solution, but with simpler and more robust
implementation. The above ideas are validated by means of
some simulation examples