Lyapunov-Based Control of the Sway Dynamics for Elevator Ropes

In this brief, we study the problem of rope sway dynamics control for elevator systems. We choose to actuate the system with a force actuator pulling on the compensation sheave. Under these conditions, we formulate this problem as a bilinear control problem and propose several nonlinear controllers based on Lyapunov theory to stabilize the rope sway dynamics, for different elevator operation conditions. We present a stability analysis of the proposed controllers, and illustrate their performance via numerical tests.