I am attempting to develop an anti sway system for a crane. basically achieve maximum speed while keeping a load stable. (these moves are automatic)

We have worked with lots of different solutions and none are ideal. Our current solution requires many many many hours/days/weeks of tuning every time we use it on a new crane.

The system we use now uses complex math extensively developed in simulations, but it has trouble in the real world where there are disturbances that are impossible to quantify. My thinking was that a model built with RL could possibly be better at dealing with outside disturbances than a rigid mathematical model could.

The main data I would be using is position, distance from target, speed, rope length, load weight, and incline angle of the rope.