DocumentCode
2224852
Title
Trajectory Tracking for Boom Cranes Based on Nonlinear Control and Optimal Trajectory Generation
Author
Arnold, Eckhard ; Neupert, Jörg ; Sawodny, Oliver ; Schneider, Klaus
Author_Institution
Univ. Stuttgart, Stuttgart
fYear
2007
fDate
1-3 Oct. 2007
Firstpage
1444
Lastpage
1449
Abstract
The main objectives of crane automation are increasing the efficiency and safety of the transshipment processes. Therefore, advanced control strategies are applied for load sway reduction and trajectory tracking. The paper presents a nonlinear control strategy combined with a model-based optimal trajectory generation for the radial load movement of a boom crane. The results are validated by measurement results from a LIEBHERR harbor mobile crane.
Keywords
cranes; nonlinear control systems; position control; tracking; LIEBHERR harbor mobile crane; boom cranes; crane automation; load sway reduction; model-based optimal trajectory generation; nonlinear control; radial load movement; trajectory tracking; Control systems; Cranes; Hydraulic actuators; Kinematics; Motion control; Nonlinear control systems; Nonlinear dynamical systems; Nonlinear systems; Optimal control; Trajectory;
fLanguage
English
Publisher
ieee
Conference_Titel
Control Applications, 2007. CCA 2007. IEEE International Conference on
Conference_Location
Singapore
Print_ISBN
978-1-4244-0442-1
Electronic_ISBN
978-1-4244-0443-8
Type
conf
DOI
10.1109/CCA.2007.4389439
Filename
4389439
Link To Document