Trajectory Control and Sway Suppression of a Rotary Crane System

• Main Authors: Mohd Ashraf, Ahmad, Mohd Syakirin, Ramli, Raja Mohd Taufika, Raja Ismail, Reza Ezuan, Samin
• Other Authors: Billingsley, John
• Format: Book Section
• Language: English
• Published: Springer-Verlag 2015
• Subjects: TK Electrical engineering. Electronics Nuclear engineering
• Online Access: http://umpir.ump.edu.my/id/eprint/9116/1/fkee-2015-Ashraf-Trajectory%20Control%20and%20Sway.pdf; http://umpir.ump.edu.my/id/eprint/9116/; http://dx.doi.org/10.1007/978-3-662-45514-2_14

This paper presents investigations into the development of hybrid control schemes for input tracking and anti-swaying control of a rotary crane system. A lab-scaled rotary crane is considered and the dynamic model of the system is derived using Euler-Lagrange formulation. To study the effectiveness...