Nonlinear Stability of a Delayed Feedback Controlled

Container Crane
THOMAS ERNEUX
Universit Libre de Bruxelles Optique Nonlinaire Thorique Campus Plaine, C.P. 231 1050
Bruxelles, Belgium (terneux@ulb.ac.be)
TAMS KALMR-NAGY
Department of Aerospace Engineering, Texas A&M University, College Station, TX 77845, USA
(Received 15 December 20051 accepted 25 July 2006)
Abstract: A simplified model of a container crane subject to a delayed feedback is investigated. The condi-
tions for a Hopf bifurcation to stable/unstable limit-cycle solutions are determined. It is shown that a subcriti-
cal Hopf bifurcation to unstable oscillations cannot be ruled out and the undesired coexistence of stable large
amplitude oscillations and a stable equilibrium endangers the robustness of time-delay control strategies. The
bifurcation is analyzed both analytically and numerically using a continuation method.
Keywords: Sway reduction, Hopf bifurcation, stable oscillations
1. INTRODUCTION
Gantry cranes are used for moving objects within shipyards, ports, railyards, factories, and
warehouses (Figure 1). These cranes can lift several hundred tons and can have spans of well
over 50 meters. For fabrication and freight-transfer applications, it is important for the crane
to move payloads rapidly and smoothly. If the gantry moves too fast the payload may start to
sway, and the crane operator might lose control of the payload. During the last four decades,
different strategies for controlling payload pendulations without including the operator in
the control loop have been investigated. Henry (1999), Henry et al. (2001), Masoud and
Nayfeh (2003) and Masoud et al.(2003, 2004, 2005) developed a control strategy based on a
time-delayed position feedback of the payload cable angles. The main objective of this type
of control strategy is to add damping to the system. It has been known since the work of
Minorsky (1942, 1962) that time delay may produce significant damping of the oscillations.
The efficiency of this technique has been investigated by numerical simulations of detailed
mathematical models and by experiment (Henry, 19991 Henry et al., 20011 Nayfeh 20021
Nayfeh et al., 2005). In these papers, the stability of the delayed position feedback control
was examined close to the equilibrium position. At a recent ASME meeting (ASME, 2005),
the question was raised whether the linear stability analysis is sufficient to ascertain the
Journal of Vibration and Control, 13(5): 603616, 2007 DOI: 10.1177/1077546307074245
1 12007 SAGE Publications
Figures 47 appear in color online: http://jvc.sagepub.com
604 T. ERNEUX and T. KALMR-NAGY
Figure 1. Rail-mounted gantry cranes are used as yard cranes. Except for the immediate loading or
unloading tasks, all operations must be done automatically with an efficient anti-sway control technique.
robustness of the proposed delayed-position feedback. In particular, nonlinear systems can
have unstable limit cycles close to the stable steady-state, thus even small perturbations of
the system could lead to a catastrophic loss of stability.
The main objective of this paper is to emphasize the need for nonlinear studies. Two
specific bifurcation phenomena associated with a delay differential equation deserve atten-
tion. First, it is known from studies of mechanical and electronical systems that the delay can
lead to a subcritical Hopf bifurcation, allowing an overlap of a branch of stable limit-cycles
and a branch of stable steady states (Kalmar-Nagy et al., 1999, 20011 Kalmar-Nagy, 20021
Kevorkiann and Cole, 1996, Landry et al., 20051 Larger et al., 20041 Gilsinn, 2002). Second,
it is also known from problems in nonlinear optics (Alsing et al., 19961 Pieroux et al., 1994,
2000) and from analytical studies of simple oscillator problems (Erneux, 2005) that several
isolated branches of periodic solutions may coexist with a stable steady state if the delay is
sufficiently large.
In this paper, we examine the direction of the Hopf bifurcation appearing in a simplified
model of the crane system. We determine conditions on the delay and the gain of the con-
troller so that the resulting Hopf bifurcation is supercritical and leads to stable oscillations.
The plan of the paper is as follows. Section 2 is devoted to the mathematical formulation
of the model. Section 3 discusses the linear stability properties of the basic equilibrium.
Section 4 and Section 5 concentrate on the local analytical and global numerical bifurcation
diagrams, respectively. Section 6 summarizes our main results.
DELAYED FEEDBACK CONTROLLED CONTAINER CRANE 605
Figure 2. Simple pendulum model of a container crane.
2. FORMULATION
A realistic model of a quay-side container crane which includes a spreader bar to lift the
container has been considered in Masoud and Nayfeh (2003) and Masoud et al. (2005). A
simplified version of this model was then used to obtain guidelines on the stability of the con-
troller. While the bifurcation analysis of the full nonlinear system has not yet been presented,
it is important to understand the local nature of the possible bifurcations and complement the
analytical studies with numerical methods including branch following. Therefore we con-
sider the simpler pendulum model of a container crane (Figure 2) to demonstrate the need
for this kind of analysis. We assume that the cable is inextensible or its length is slowly
varying compared to the time scale of the payload oscillations. Using the Lagrangian ap-
proach (Omar Hanafy, 2003) with Rayleigh dissipation (Masoud et al., 2005), we obtain the
following equations of motion
(m 2 M)(u
33
2cu
3
) 2ml
33
cos() 4ml
32
sin() 2cml cos()
3
5 F (t ) , (1)
l(
33
2c
3
) 2 g sin() 2cos()(u
33
2cu
3
) 5 0 (2)
where c is the friction coefficient. The force F (t ) acting on the cart is provided by an ideal
motor. This control input was specified in Masoud et al. (2005) and Nayfeh et al. (2005) as
F (t ) 5 K(u 4u
0
) 2 H(
T
, ) (3)
where u
0
is the desired final position of the crane, K is a proportional gain,
T
6 (t 4 T)
is the delayed value of the angle (where T is the delay), and H is a judiciously chosen
function of
T
and satisfying H(0, 0) 5 0. The parameters can be tuned for optimal
performance of the control system in order, for example, to introduce as much damping
606 T. ERNEUX and T. KALMR-NAGY
as possible. To focus on nonlinear phenomena associated with the delayed feedback force
F (t ) 5 H(
T
, ), we neglect the operator input (as in Nayfeh et al., 2005).
For moderate oscillations of the system( v,2) the horizontal dynamics of the system
can be expressed as a damped oscillator whose driving is provided by the payload oscilla-
tions. From (2), we find
u
33
2cu
3
5 4
l(
33
2c
3
)
cos()
4 g tan(). (4)
Introducing (4) into equation (1), we obtain an equation for only, which is given by
l
_
M 2m sin
2

_
cos
(
33
2c
3
) 2(m 2 M) g tan() 2ml
32
sin() 5 4H(
T
, ). (5)
At this point, we introduce the dimensionless time s 6 ot , where o is defined as the fre-
quency of the linearized trolley-payload system (i.e. the system Ml(
33
2 c
3
) 2 (m 2
M)g 5 0) given by
o 6
_
M 2m
Ml
g. (6)
Equation (5), then becomes
1 2, sin
2
()
cos()
(
33
22
3
) 2tan() 2,
32
sin() 5 4h(
:
, ). (7)
Prime now means differentiation with respect to the nondimensional time s, 6 co
41
,2 is
the dimensionless friction coefficient, and
:
5 (s 4:) with : 6 oT being the dimension-
less time delay. The parameter , 6 m,M is the ratio of the payload and trolley masses. The
function in the right-hand side of equation (7) is defined as h (.) 6 H (.) ,Ml and represents
the nondimensional control force. The shape of the control force determines not only the
linear stability of the system but also its bifurcation structure, therefore its choice is crucial
from the control point of view.
A simple delayed feedback of the form
h 5 k(
:
4) (8)
was used by Pyragas (1992) to control a chaotic system, while Nayfeh et al. (2005) used
h 5 k

sin(
:
)

33
in the context of gantry crane control. For both of these control functions
the only equilibrium state 5 0 is the same as that of the the free crane system and this will
be our basic reference state. In this paper, we investigate in detail Pyragas control strategy
(8). With this, equation (7) can be rewritten as the following second-order delay differential
equation

33
22
3
2
cos()
1 2, sin
2
()

tan() 2,
32
sin() 2k(
:
4)

5 0. (9)
DELAYED FEEDBACK CONTROLLED CONTAINER CRANE 607
3. LINEAR STABILITY
Linearizing equation (9) leads to

33
22
3
2 2k(
:
4) 5 0. (10)
The linear stability boundaries are found by introducing 5 exp(i os) into equation (10).
From the real and imaginary parts, we obtain
4o
2
21 2k(cos(o:) 41) 5 0, (11)
2o 4k sin(o:) 5 0. (12)
The solution for k 5 k(:) can be determined analytically (see Kalmr-Nagy et al., 2001). If
we wish to avoid the inverse trigonometric functions, we may obtain the solution in paramet-
ric form using x 6 o:,2 7 0 as parameter. Eliminating k in equations (11) and (12), and
inserting o 5 2x,:, we obtain a quadratic equation for :. It always admits a positive real
root given by
: 5 2
_
x tan(x) 28x8
_

2
tan
2
(x) 21
_
. (13)
Having :(x), we determine k using (12) with o 5 2x:
41
:
k 5
4x
: sin(2x)
. (14)
By continuously increasing x fromzero, the successive Hopf bifurcation curves are generated
by (13) and (14) (full lines in Figure 3). The friction coefficient is generally small and if
5 0, the expressions for the Hopf bifurcation lines considerably simplify. From equations
(11) and (12), we find the following three cases:
k
0
5 0 and o
0
5 1, (15)
:
0
5 2nv and o
0
5 1, (16)
k
0
5
1
2
_
1 4
_
(2n 21)v
:
_
2
_
and o
0
5
(2n 21)v
:
(17)
where n 5 0, 1, 2, ... The horizontal line k 5 0, the vertical line defined by (16) with n 5 1,
and the lines defined by (17) with n 5 0 and 1 are shown by broken lines in Figure 3.
It can be shown (Kalmr-Nagy et al., 20011 Stpn, 1989) that the crosshatched domain
in Figure 3 corresponds to a stable steady-state of equation (10), and a transversal (i.e. with
nonzero velocity) root crossing occurs on the curves separating this region from the unstable
one. We thus expect the emergence of a Hopf bifurcation at the stability boundaries. In the
next section, we propose a nonlinear bifurcation analysis of equation (9) and discuss the
direction of the Hopf bifurcation.
608 T. ERNEUX and T. KALMR-NAGY
Figure 3. Successive Hopf bifurcation lines (solid) in the k vs : parameter plane for (8) and 5 0.025.
The broken lines correspond to the limiting case of no friction ( 5 0) and are shown for the first four
Hopf bifurcations. The crosshatched domain corresponds to a stable steady state.
4. NONLINEAR ANALYSIS
In this section, we determine the periodic solutions near their Hopf bifurcation points. Two
cases need to be examined depending on the choice of the control parameter.
4.1. Bifurcation Parameter k
We first examine the Hopf bifurcation using k as the bifurcation parameter and assuming
small positive values of (the case of arbitrary can be similarly analyzed). Specifically,
we apply the PoincarLindstedt method (Drazin, 19921 Kevorkian and Cole, 19961 Casal
and Freedman, 1980) and seek a 2v-periodic solution of the form
5 e

1
(S) 2e
2

3
(S) 2...

(18)
where S 6 os and the small parameter e is defined by e 6
9
. We also expand the
frequency o and the bifurcation parameter k as
o 5 o
0
2e
2
o
2
2... and k 5 k
0
2e
2
k
2
2... (19)
where k
0
and o
0
are defined by (17). The power series in e
2
in (18) comes from the fact
that the Taylor expansion of the nonlinear function in (7) only generates odd powers of .
DELAYED FEEDBACK CONTROLLED CONTAINER CRANE 609
The scaling 5 e
2
and the fact that the first non-zero corrections are O(e
2
) in (19) are
required by the solvability conditions. We also need the expansion
(S 4o:) 5 (S 4o
0
:) 4e
2
o
2
:
3
(S 4o
0
:) 2... (20)
where prime now means differentiation with respect to time S. After introducing (18)(20)
into equation (9), we equate the coefficients of each power of e to zero. The problems for
the unknown functions
1
,
3
are given by
L
1
6 o
2
0

33
1
2
1
2k
0
(
1
(S 4o
0
:) 4
1
) 5 0, (21)
L
3
5 42o
0

3
1
2
3
1
_
1
6
2,
_
4,o
2
0

32
1

1
2k
0
_
1
2
2,
_
(
1
(S 4o
0
:) 4)
2
4 2o
0
o
2

33
1
2k
0
o
2
:
3
1
(S 4o
0
:) 4k
2

1
(S 4o
0
:) 4
1

. (22)
The solution of equation (21) is

1
5 A exp(i S) 2c.c. (23)
where A is an unknown amplitude and c.c. stands for complex conjugate terms. An equation
for A is determined by applying a solvability condition (to remove secular terms) on the
right-hand side of equation (22). Using exp(4i
0
:) 5 41, this condition is given by
o
2
A(2o
0
4i k
0
:) 2 A(42i o
0
2 N 8 A8
2
22k
2
) 5 0 (24)
where N is defined as
N 6
_
3
2
22,
_
o
2
0
41. (25)
Assuming 8 A8 5 0, the real and imaginary parts of equation (24) lead to two conditions for
k
2
and o
2
. After eliminating o
2
5 42o
0
,(k
0
:), we find
8 A8
2
5 4
2(k
2
4k
2H
)
N
7 0 (26)
where
k
2H
5
2(2n 21)
2
v
2
:
3
k
0
(k
0
5 0) (27)
is the critical value of k
2
at the Hopf bifurcation point. The inequality in equation (25) defines
the direction of bifurcation, i.e. the possible values of the deviation k
2
4 k
2H
where a limit
cycle exists. It clearly depends on the sign of N, which may be positive or negative depending
on the value of :. If k
0
> 0, we note from Figure (3) the basic equilibrium solution 5 0
is unstable if k
2
4 k
2H
> 0. The inequality in (25) then implies that the bifurcation is super
610 T. ERNEUX and T. KALMR-NAGY
Table 1. Rows of the table represent the sign requirements for the terms in the first row in
order for the bifurcations to be supercritical (Case (17), : is fixed, and k is the bifurcation
parameter).
k
0
k
2
4k
2H
N
2 2 4
4 4 2
critical if N 0
1
. Similarly, if k
0
0, we note from Figure (3) that 5 0 is unstable
if k
2
4 k
2H
0. The inequality in (25) then implies that the bifurcation is supercritical if
N > 0. The different possibilities for a supercritical Hopf bifurcation are listed in Table 1. If
one of the two conditions in Table 1 is violated, the bifurcation is subcritical and a branch of
unstable periodic solutions will overlap the stable equilibrium 5 0.
It is instructive to discuss the sign of N in terms of ,. From (25), we find that N 0 if
, ,
c
6
1
2
_
:
2
(2n21)
2
v
2
4
3
2
_
which is impossible if the delay : is too small since , 5 m,M
must be positive. In other words, a supercritical Hopf bifurcation for k
0
> 0 requires the
necessary condition : >
_
3
2
(2n 2 1). Thus, contrary to what we naively might expect, a
small delay does not guarantee a supercritical Hopf bifurcation. Another point that is worth
stressing is the dramatic change of sign of N in Table 1 as soon as k
0
changes sign. At the
critical point k
0
5 0, o equals 1 regardless of n. From (25), we then note that N > 0. This
means that in the vicinity of k
0
5 0, the bifurcation is supercritical only in the domain where
N > 0, i.e. when k
0
0.
4.2. Bifurcation Parameter :
In the case of (17) with : as the control parameter and k fixed, the analysis is quite similar
and we summarize only the main result. We introduce
o 5 o
0
2e
2
o
2
2... and : 5 :
0
2e
2
:
2
2... (28)
into equation (9). o
0
and :
0
are defined by
:
0
5
(2n 21)v
9
1 42k
and o
0
5
(2n 21)v
:
0
(29)
where n 5 0, 1... and k 1,2. The limit-cycle solution is given by (23) to a first approxi-
mation and the amplitude A satisfies
8 A8
2
5
2o
0
:
0
(:
2
4:
2H
) 7 0 (30)
where :
2H
6 42o
0
,k and
N 6
_
3
2
22,
_
(1 42k) 41. (31)
DELAYED FEEDBACK CONTROLLED CONTAINER CRANE 611
Table 2. Rows of the table represent the sign requirements for the terms in the first row in
order for the bifurcations to be supercritical (Case (17), k is fixed and : is the bifurcation
parameter).
k :
2
4:
2H
N
2 4 4
4 2 2
Table 3. Rows of the table represent the sign requirements for the terms in the first row in
order for the bifurcations to be supercritical (Case (16), k is fixed and : is the bifurcation
parameter).
k :
2
42k
41
2 2
The different possibilities for a supercritical Hopf bifurcation are listed in Table 2. Note from
(31) that if k 0, N is always positive meaning that the bifurcation is always subcritical.
In the case of (16), we are forced to use : as our control parameter because the leading
approximation of the Hopf bifurcation point is independent of k. With (28) where o
0
and :
0
are defined by (16), the sequence of problems to analyze now is
L
1
6
33
1
2
1
2k(
1
(S 4:
0
) 4
1
) 5 0, (32)
L
3
5 42
3
1
2
3
1
_
1
6
2,
_
4,
32
1

1
2k
_
1
2
2,
_
(
1
(S 4o
0
:) 4)
2
4 2o
2

33
1
2ko
2
:
0

3
1
(S 4:
0
) 2k:
2

3
1
(S 4:
0
). (33)
Equation (32) admits (23) as solution. Solvability of equation (33) now requires
o
2
A(2 2i k:
0
) 2i k:
2
A 2 A(42i 2 N 8 A8
2
) 5 0 (34)
where
N 6
1
2
22, > 0. (35)
Eliminating o
2
from the real and imaginary parts leads to the following expression for 8 A8
2
:
8 A8
2
5
2
N:
0
(:
2
42k
41
). (36)
If k > 0, the steady state is unstable if :
2
> 2k
41
and since N > 0, the bifurcation is
supercritical and stable. On the other hand if k 0, the steady state is unstable if :
2
2k
41
.
But since N > 0, the bifurcation is subcritical and unstable. Thus the only possibility of
observing a supercritical Hopf bifurcation is indicated in Table 3.
612 T. ERNEUX and T. KALMR-NAGY
Figure 4. Bifurcation diagram using the delay : as the control parameter and for a fixed gain (k 5 0.1).
From the outer to the inner closed Hopf bifurcation branches, the damping coefficient is increased from
0.01 to 0.05.
5. NUMERICAL RESULTS
To numerically verify our analytical predictions, we used the MATLABtoolbox DDE-BifTool
written by Koen Engelborghs et al. (2001, 2002), to find the Hopf bifurcation branches of
equation (9). We also used a numerical integration routine written in Mathematica to verify
these results at several parameter values. Figures 47 appear in different colors online. The
colors online correspond to different values of the friction coefficient (0.01 Blue, 0.02
Red, 0.03 Green, 0.04 Magenta, 0.05 Black). Figure 4 represents the bifurcation
diagram of the periodic solutions (the oscillation amplitude 8 A8 as a function of the bifurca-
tion parameter :) for a fixed positive value of k. The figure shows that the Hopf bifurcations
near : 5 0 and : 5 2v are supercritical while the criticality of bifurcations near : 5 v
and : 5 3v depend on the value of the damping . For small , these bifurcations are
subcritical. This agrees with our analysis since, evaluating (31) with , 5 0.1 and k 5 0.1,
we find N > 0 implying a subcritical bifurcation (Table 2). Similarly, the supercritical Hopf
bifurcations near : 5 0 and : 5 2v are predicted by our analysis (Table 3).
For fixed negative k, we find the same super-subcritical structure for each Hopf bifur-
cation branches (Figure 5). The supercritical bifurcation near k 5 v and k 5 3v and the
subcritical bifurcation near k 5 2v are predicted by our analysis (Table 2 and Table 3,
respectively).
We also considered k as our bifurcation parameter keeping : fixed. Figures 6 and 7
show the Hopf bifurcation branches at two different values of :. In Figure 6, : 5 1, and the
bifurcation is supercritical for all values of the damping rate . Decreasing , the Hopf bifur-
DELAYED FEEDBACK CONTROLLED CONTAINER CRANE 613
Figure 5. Bifurcation diagram using the delay : as the control parameter and fixed gain (k 5 40.1).
From the outer to the inner closed Hopf bifurcation branches the damping rate is gradually inceased
from 0.01 to 0.04.
Figure 6. Bifurcation diagram using k as the control parameter and for a fixed delay : 5 1. The
supercritical Hopf bifurcation becomes progressively more vertical as we decrease .
614 T. ERNEUX and T. KALMR-NAGY
Figure 7. Bifurcation diagram using k as the control parameter and for a fixed delay : 5 7. The
bifurcation for negative k and the one near k 5 0 are supercritical and stable. The bifurcation at k 5 0.4
is unstable because it emerges from an unstable equilibrium.
cation point comes closer to k 5 0 and the branch becomes sharper. This particular behavior
is not captured by our analysis, which only considered Case (16) and Case (17) character-
ized by non-zero values of k if 5 0. The analysis of Case (15) with k
0
5 0 requires a
higher order analysis and shows the progressive transition to a vertical Hopf bifurcation as
0. This interesting case (small k) will be described in detail elsewhere. Figure 7 shows
the bifurcations at : 5 7 and indicates a supercritical Hopf bifurcation for both positive
and negative values of k. The supercritical Hopf bifurcation for negative k agrees with our
analysis: evaluating (25) with , 5 0.1, : 5 7, o
0
5 3v,: leads to N > 0 which implies a
supercritical bifurcation (Table 1). As in Figure 6, the Hopf bifurcation near k 5 0 becomes
sharper as 0. We also note a second primary Hopf bifurcation appearing at k 5 0.4,
which corresponds to the Hopf bifurcation point defined by Case (17) with n 5 0. If : is de-
creased from 7 to 2v, the two Hopf bifurcation points coalesces at a double Hopf bifurcation
near k 5 3,8 5 0.375. In the vicinity of this point, we found numerically limit-cycles and
tori suggesting secondary bifurcation phenomena, in agreement with Campbell et al. (1995).
6. DISCUSSION
We have analyzed a simple crane model with nonlinear delayed feedback (Pyragas control).
We showed analytically and numerically the existence of both supercritical and subcritical
Hopf bifurcations. These observations, which are also found for other second-order oscillator
DELAYED FEEDBACK CONTROLLED CONTAINER CRANE 615
problems with delayed feedback, indicate the necessity for nonlinear studies. The existence
of unstable limit cycles in the linearly stable regime deteriorates the robustness of the control
algorithm. The numerical bifurcation diagrams indicate the presence of stable high amplitude
limit cycles coexisting with the stable equilibrium. Whether or not the motion of the crane
payload system can become accidentally attracted by these stable limit-cycles needs to be
analyzed in detail by simulations of the time dependent problem.
In our analysis, we also found several cases of double Hopf bifurcation points, which we
shall examine in the near future. Pyragas control is purely linear and the question whether
we may design a nonlinear control for better stability properties remains open.
NOTE
1. A supercritical (subcritical) Hopf bifurcation overlaps the unstable steady state (the stable steady state).
Acknowledgements. The authors would like to acknowledge the help of Kevin Daugherty in producing some of the
numerical results with DDE-BifTool. A Mathematica package written by Didier Pieroux has been very useful to
translate the equations into MATLAB format. TE acknowledges the support of the Fond National de la Recherche
Scientifique (Belgium).
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