Robust control of rotary crane by partial-state feedback with integrator
This paper deals with a simple design of robust control systems for rotary cranes. After deriving a simple linear model of crane dynamics, a constant gain partial state feedback controller is presented. Using information on the nominal natural frequencies of a load-rope system, the control system can be designed easily to be robustly stable for any rope length, without iterative computations. In addition, a method of including an integrator in the robust control system is proposed for reducing the positional error of the crane boom. The effectiveness of the proposed method is confirmed experimentally. (C) 2009 Elsevier Ltd. All rights reserved.
robust control state feedback motion control anti-sway control