Anti Sway Crane Control Based on Sway Angle Observer with Sensor-Delay Correction

Abstract

Recently, there has been an increase in the demand for container cranes capable of automatic operation. Anti sway control techniques essentially require a sway sensor for achieving good control performance through a feedback signal. However, the use of a vision system to detect the sway angle results in the deterioration of control performance owing to the influence of weather and delay in detection. In this paper, we describe an effective method for precise state estimation in a system by taking the sensor delay into account. The effectiveness of the observer is verified through various numerical simulations and experiments using a model plant.