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

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4 Author(s)
Iwasa, T. ; Dept. of Production Syst. Eng., Toyohashi Univ. of Technol., Toyohashi, Japan ; Terashima, K. ; Nyioh Yong Jian ; Noda, Y.

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.

Published in:

Control Applications (CCA), 2010 IEEE International Conference on

Date of Conference:

8-10 Sept. 2010