Flatness Based Control and Model Predictive Trajectory Generation for Boom Cranes

The main control tasks for automation of crane operation are load sway damping and load velocity tracking control. A non-linear dynamic crane model combines the equations of motion of the rope suspended load and approximations of the actuator dynamics. Using the flatness property of the crane model, a non-linear controller is obtained by feedback linearization. Smooth and feasible reference trajectories are generated as solutions of an optimal control problem. The control system is implemented at a LIEBHERR harbor mobile crane. Measurement results show the validity of the approach.