Abstract
Crane lifters are widely used in industrial plants and rehabilitation equipment. To improve the efficiency of cargo handling with cranes, it is necessary to control the crane trolley position so that the swing of the handling load is minimized. Crane lifters have the dynamics with nonlinearities and time varying parameters. The backstepping method is powerful technique to design a nonlienar daptive controller. In this paper, a nonlinear controller for the anti-sway control of crane lifters is designed via backstepping method.
