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Trajectory Tracking for Boom Cranes Based on Nonlinear Control and Optimal Trajectory Generation

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4 Author(s)
Arnold, E. ; Univ. Stuttgart, Stuttgart ; Neupert, J. ; Sawodny, O. ; Schneider, K.

The main objectives of crane automation are increasing the efficiency and safety of the transshipment processes. Therefore, advanced control strategies are applied for load sway reduction and trajectory tracking. The paper presents a nonlinear control strategy combined with a model-based optimal trajectory generation for the radial load movement of a boom crane. The results are validated by measurement results from a LIEBHERR harbor mobile crane.

Published in:

Control Applications, 2007. CCA 2007. IEEE International Conference on

Date of Conference:

1-3 Oct. 2007