Sway Control Experiment of Rotary Crane Using Linear Transfer Transformation Model
نویسندگان
چکیده
This paper presents a method to control the sway of a rotary crane by using a linear transfer transformation (LTT) model. The LTT model is built and its parameters are geometrically derived. Optimal control of a rotary crane is presented using an optimization method of Fletcher-Reeves so that the load has no sway at the end point of the transfer. The effectiveness of the proposed control method in the LTT model is demonstrated through simulation and experiments.
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