On the design and implementation of a rotary crane controller

This paper deals with the feedback control of a rotary crane. The goal is to design a control system that assists the operator to move the cargo without oscillations and correctly align the cargo at the final position. This is accomplished with a weakly coupled pair of state feedback controllers with a nonlinear compensator. The controller has been implemented and tested on a real crane.Godkänd; 1996; 20061111 (ysko)