119 ラバー式ガントリクレーンの振れ止め制御(非線形制御理論応用I)(OS 非線形制御理論応用)

抄録

In this paper, the tracking control problem and the anti-sway control problem for the rubber tired transfer crane are considered. Since the tired transfer crane swerves form the demanded course, it needs the tracking control to keep the demanded course. At the same time, the anti-sway control is needed to control the vibration of the building. Generally, since the model of the transfer crane can be expressed as one of nonholonomic system, it is difficult to design a controller. This paper propose a design method of a controller to keep the demanded course and control the vibration.