Traditionally, a crane is modeled as a simple pendulum with a lumped mass at the end of a hoisting cable. However, in the case of quay-side container cranes the actual hoisting mechanism consists typically of a set of four hoisting cables. Modern quay-side container cranes use independent front and rear hoisting cables. This degree of freedom can be utilized to control payload sway oscillations. In this work, a delayed feedback algorithm is used to produce a controlled differential change in the length of the front and rear hoisting cables of a typical quay-side container crane.

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