Robust High-Precision Trajectory Planning for Payload Transportation in Overhead Cranes: A Disturbance-Aware Approach

Abstract

The coordinated motion of the trolley and hoisting rope improves crane flexibility but poses challenges in precise trajectory conversion and tracking due to disturbances and inaccessible low-level controllers. This letter proposes a disturbance-aware high-precision trajectory planning method integrating a high-order disturbance observer (HODOB), an actuated trajectory generation (ATG) module, and a high-precision trajectory modifier (HPTM). The HODOB estimates disturbances and their derivatives; the ATG leverages differential flatness with disturbance compensation for accurate conversion; and the HPTM, based on a composite state control barrier function (CSCBF), can modify the reference trajectory in real time to ensure strict safety-constrained tracking. Experiments demonstrate that the proposed method achieves high-precision trajectory conversion and tracking under both nominal and disturbed conditions.