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. 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 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.