Wave Based Robust Control of a Crane System

In this paper we propose a robust control strategy for a gantry crane system with hoisting. The trolley moves horizontally to translate a load mass, hanging at the lower end of a cable, from rest to rest. Due to the flexibility of the cable, load swing easily arises, and should be controlled. To this end, the trolley motion and load hoisting are designed carefully. The desired trolley motion is decided in real time by a wave-based approach,...