Control of a rotational crane considering anti-sway in the radial direction

The basic motions of a rotational crane as a construction machine are classified into cargo windup, boom derricking and boom slewing. The purpose of controlling the crane is to transfer the cargo to the target point as quickly as possible while suppressing the swaying and to quickly minimize the residual sway at the target point. In this paper, we propose a new method with control in the radial direction.