This paper proposes an auto-coupling proportional-integral-differential control method based on the status directive to solve the Anti-Swing control problem in the two-dimensional overhead crane system. The technique uses a coordinate transformation to map the underactuated overhead crane system into a high-order linear disturbance system in order to decouple the new system’s control input. The status directive is built based on the system state variables and is set as the control target of the controller based on the ACPID control strategy. Furthermore

complex frequency domain analysis has proved the stability of the closed-loop control system. The results of the simulation and experiment compared with other methods are presented to demonstrate the simplicity and effectiveness of the proposed technique.