抄録
In this paper, a power-assisted control system for an overhead crane is proposed.This system achieves to reduce operator's burden and to realize human-friendly operation. In our previous researches, we designed a stable power-assisted crane system considering both of model uncertainty and optimum response. However, in that system, the limit-cycle problem was occured when operator grounded an object. Therefore, in the present paper, we discuss the condition to suppress the limit-cycle. Furthermore, the switching control which achieves both the absolute stability and the reduction of the operator's burden by switching two kinds of controllers, is provided. Finally, an advantage of the proposed controller is demonstrated by the experiment.
