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A Robust Anti-Swing Trajectory Control of Overhead Cranes With High-Speed Load Hoisting: Experimental Study

[+] Author Affiliations
Ho-Hoon Lee

Southeastern Louisiana University, Hammond, LA

Yi Liang

Innovention Toys, Covington, LA

Paper No. IMECE2010-39708, pp. 711-716; 6 pages
  • ASME 2010 International Mechanical Engineering Congress and Exposition
  • Volume 8: Dynamic Systems and Control, Parts A and B
  • Vancouver, British Columbia, Canada, November 12–18, 2010
  • Conference Sponsors: ASME
  • ISBN: 978-0-7918-4445-8
  • Copyright © 2010 by ASME


The objective of this study is to solve serious robustness problems in the anti-swing trajectory control of overhead cranes caused by unavoidable mechanical inaccuracies and installation errors such as locally sloped trolley rails. Based on the theoretical results in the preliminary study, this paper experimentally shows that the proposed anti-swing control solves this robustness problem due to the usual mechanical inaccuracies and installation errors in application.

Copyright © 2010 by ASME



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