Anti-sway control system of a rotational crane using a nonlinear controller

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.