Anti-sway system for boom cranes based on an optimal control approach

Proceedings of the American Control Conference

Volumn 4, Issue , 2003, Pages 3166-3171

  Arnold, E ^a   Sawodny, O ^b   Hildebrandt, A ^b   Schneider, K ^c  

^a FRAUNHOFER IOSB   (Germany)

^b ILMENAU UNIVERSITY OF TECHNOLOGY   (Germany)

^c General Manager and Hydraulic Technical Director of Zhejiang Liebherr Transportation System Co Ltd   (Austria)

Author keywords

[No Author keywords available]

Indexed keywords

AUTOMATION; CRANES; FEEDBACK CONTROL; NONLINEAR CONTROL SYSTEMS;

BOOM CRANES;

OPTIMAL CONTROL SYSTEMS;

EID: 0142152964     PISSN: 07431619     EISSN: None     Source Type: Conference Proceeding    
DOI: None     Document Type: Conference Paper

References (14)

1. /AUE87/ Auernig J.W., Troger H.: Time optimal control of overhead cranes with hoisting of the load. Automatica, Vol.23, No. 4, pp. 437-447, 1987.
2. /ARN99/ Arnold E., Linke H., Puta H.: Nonlinear model predictive control for operational management of a canal system. In: European Control Conference ECC'99, Karlsruhe, Germany, 1999.
3. /AUG01/ Augustin D., Maurer H.: Sensitivity analysis and real-time control of a container crane under state constraints. In: Grötschel, M. et al.: Online optimization of large scale systems. Berlin: Springer, pp. 69-82, 2001.
4. /BET01/ Betts J.T.: Practical methods for optimal control using nonlinear programming. SIAM, Philadelphia, 2001.
5. /FRA99/ Franke R., Arnold E.: The solver Omuses/HQP for structured large-scale constrained optimization: algorithm, implementation, and example application. In: Sixth SIAM Conference on Optimization, Atlanta, 1999.
6. /GRI96/ Griewank A., Juedes D., Utke J.: ADOL-C: A package for the automatic differentiation of algorithms written in C/C++. ACM Trans. Math. Software, 22(2):131-167, 1996.
7. /NGU98/ Nguyen, H.T.: State-Variable Feedback Controller for an Overhead Crane. Journal of Electrical and Electronics Engineering, Australia, No. 2, pp. 75-84, 1994.
8. /OVE96/ Overton R.: Anti-Sway Control System for cantilever cranes, US Patent Specification 5.526.946, 1996.
9. /PAR99/ Parker G.G., Groom K., Hurtado J., Robinett R.D.: Command Shaping Boom Crane Control System with Nonlinear Inputs. In: Proc. of IEEE Conf. on Control Applications, Kohala Coast Hawai, pp. 1774-1778, 1999.
10. /SAW02/ Sawodny O., Aschemann H., Kümpel J., Tarin C., Schneider K.: Anti-Sway Control for Boom Cranes. In: Proceedings of the ACC02, Anchorage, USA, pp. 244-249, 2002.
11. /SAW02b/ Sawodny O., Aschemann H., Lahres, S.: An automated gantry crane as a large workspace robot. In: Journal Control Engineering Practice, Vol.10, Issue 12, pp. 1323-1338, 2002.
12. /SAK82/ Sakawa Y., Shindo Y.: Optimal Control of Container Cranes. Automatica, Vol. 18, No. 3, pp. 257-266, 1982.
13. /SIN97/ Singhose W., Porter L., Seering W.P.: Input shaped control of a planar gantry crane with hoisting. In: Proc. ACC97, Albuquerque, vol.3, pp. 97-100, 1997.
14. st IEEE Conf. On Control Applications, Dayton, USA, pp. 782-787, 1992.