Modelling and control of a knuckle boom crane

Depending on their dynamic properties, cranes can be classified as gantry and rotary cranes. In this paper, we will focus the so called ‘knuckle boom’ which are among most common types of A first result paper is to present a complete mathematical model for kind crane where it possible control three rotations cable length. On basis model, propose nonlinear law based energy considerations able perform position while damping oscillations load. The corresponding stability convergence analysis carefully proved using LaSalle's invariance principle. effectiveness proposed approach has been tested in simulation with realistic physical parameters presence mismatch.