REDUCED NORMAL FORM APPROACH TOSWING CONTROL OF CRANE SYSTEMS: THEORY AND EXPERIMENTS
Load oscillations of container cranes reduce the container handling throughput and need to be controlled in order to minimize load swing. The proposed controller is motivated by a novel reduced normal form technique that incorporates resonant coupling into the underactuated system of load oscillations and hoisting mechanism. Results from simulations prove the functionality of the controller and motivate its implementation at the container crane test stand.
CYBERNETICS AND PHYSICS, VOL. 1, NO. 1, 2012, 42-50.