Position Regulation of Bridge Crane with Non-constant Disturbances

Positioning and anti-swing are two main tasks of bridge crane. This paper studies the bridge crane with non-constant disturbance, of which the modes of vibration is known. Feed forward-feedback control law is firstly proposed to realize position regulation with zero steady error and to optimize the swing angle. Observer-based control strategy is secondly established so that the regulation could be realized only by position signal. Model simulations show efficiency of the proposed design.