Title :
Trajectory Tracking for Boom Cranes Based on Nonlinear Control and Optimal Trajectory Generation
Author :
Arnold, Eckhard ; Neupert, Jörg ; Sawodny, Oliver ; Schneider, Klaus
Author_Institution :
Univ. Stuttgart, Stuttgart
Abstract :
The main objectives of crane automation are increasing the efficiency and safety of the transshipment processes. Therefore, advanced control strategies are applied for load sway reduction and trajectory tracking. The paper presents a nonlinear control strategy combined with a model-based optimal trajectory generation for the radial load movement of a boom crane. The results are validated by measurement results from a LIEBHERR harbor mobile crane.
Keywords :
cranes; nonlinear control systems; position control; tracking; LIEBHERR harbor mobile crane; boom cranes; crane automation; load sway reduction; model-based optimal trajectory generation; nonlinear control; radial load movement; trajectory tracking; Control systems; Cranes; Hydraulic actuators; Kinematics; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control; Trajectory;
Conference_Titel :
Control Applications, 2007. CCA 2007. IEEE International Conference on
Conference_Location :
Singapore
Print_ISBN :
978-1-4244-0442-1
Electronic_ISBN :
978-1-4244-0443-8
DOI :
10.1109/CCA.2007.4389439
