Control system design of a traveling crane using H∞ control theory

For a traveling crane, various control methods such as fuzzy control and optimum control are studied. In the control of an actual traveling crane, it is important to accurately stop the crane at the desired position by positioning control and anti-sway control. In this paper, we used the H_∞ control theory which performs well even when there we modeling errors and parameter variations. The results of several experiments confirmed that the H_∞ control system is effective.