Journal
JOURNAL OF DYNAMIC SYSTEMS MEASUREMENT AND CONTROL-TRANSACTIONS OF THE ASME
Volume 123, Issue 1, Pages 139-141Publisher
ASME
DOI: 10.1115/1.1343462
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This paper addresses the automation problem of overhead cranes. A feedback control strategy is proposed so that the crane travel and hoisting or lowering motions are forced to track a given reference trajectory while killing the payload swing angle. Stability analysis is carried out using Lyapunov functions and it is shown that the equilibrium point of the crane system is asymptotically stable.
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