The control system design of a traveling crane using H/sub /spl infin// control theory

On the traveling crane the various methods such as fuzzy control and optimum control are studied. In the control of actual traveling crane, it is important to accurately stop the crane for the goal position by positioning control and anti-sway control. In this paper, we used the H/sub /spl infin// control theory which can keep the good performance, even if there are modeling errors and parameter variations, and designed the control system by the loop shaping method. The simulation using the nonlinear approximation model indicates the good performance.