  Boom cranes are among the most used cranes to lift heavy loads. Although
fairly simple mechanically, from the control viewpoint this kind of crane is a
nonlinear underactuated system which presents several challenges, especially
when con-trolled in the presence of constraints. To solve this problem, we
propose an approach based on the Explicit Reference Governor (ERG), which does
not require any online optimization, thus making it computationally
inexpensive. The proposed control scheme is able to steer the crane to a
desired position ensuring the respect of limited joint ranges, maximum
oscillation angle, and the avoidance of static obstacles.
