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In this paper, we report a new control system for rotational cranes using a nonlinear controller. Although rotational cranes can be expressed as a nonlinear dynamical system with infinite modes at high frequencies, it is impossible to construct a model the same as the actual crane. We therefore applied a method we developed to convert the nonlinear control problem to a linear one. The experimental results show that this approach is effective for control of rotational cranes.
SICE 2002. Proceedings of the 41st SICE Annual Conference (Volume:5 )
Date of Conference: 5-7 Aug. 2002