ANTI-SWAY CONTROL SYSTEM OF A ROTATIONAL CRANE USING A NON-LINEAR CONTROLLER

Abstract

In this paper, we report a new control system for rotational cranes using a non-linear controller. Until now, the control problem of such a system has been treated by using a linear controller. However, the control systems designed by this method did not perform well. Although rotational cranes can be expressed as a non-linear dynamics system with infinite modes at high frequencies, it is impossible to make the model the same as the actual crane. We therefore considered an approximate non-linear model having similar performance as the actual crane, and applied a method we developed to convert the non-linear control problem to a linear one. The experimental results show that this approach is effective for the control of rotational cranes.