Minimum time control of a rotary crane using the straight transfer transformation method

This paper presents a method for controlling the load sway of a rotary crane using a straight transfer transformation (STT) model. The STT model was built and its parameters were geometrically derived. Taking the change of rope length into account, the minimum time control problem of a transferred load was solved using the revised STT model by means of the clipping-off technique for the constraints of control inputs´ amplitude. The proposed control method using the STT model was demonstrated to be effective in eliminating the influence of centrifugal force through simulation and experiments.