Modeling and Control of Tower Cranes With Elastic Structure

Due to their lightweight construction, large tower cranes are prone to structural vibrations that pose a major challenge for load sway damping control design and are the main reason for the lack of anti-sway systems in most modern tower cranes. Since neglecting the structural elasticity for feedback control design can lead to instability or poor performance, a detailed dynamic model is required that takes the structural elasticity into account....