302 Control of A Tower Crane without Sensor for Load-Rope Angle

Abstract

This paper deals with control of a crane mounted on a tower-like flexible structure called the 'Tower crane' by using no sensor for the load-rope angle, since it is difficult to put the sensor on a real tower crane. We design the two-degree-of-freedom control system using not only a feedback loop but also a feedforward loop by the final-state control method with error learning. By simulations and experiments it is verified that the 2DOF controller designed can improve the settling performance that is decreased by the feedback controller without the load-rope angle sensor.