Operator assistance system of rotary crane by gain-scheduled H∞ controller with reference governor

This paper describes control of a rotary crane for the change of rope length. The load position and its sway control is designed by using the gain-scheduled H
_∞
controller. Furthermore, reference governor with the maximum constrained positively invariant (CPI) set is proposed for the time-variant system to give the reference input satisfying the input constraints and sway suppression.