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International Conference on Advanced Computer Theory and Engineering (ICACTE 2009)
Xie Yi
Xie Yi
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ASME Press
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This paper presents investigations into the development of feed-forward control schemes for anti-swaying control of a rotary crane system. A nonlinear rotary crane system is considered and the dynamic model of the system is derived using the Euler-Lagrange formulation. An unshaped square-pulse torque input is used to determine the characteristic parameters of the system for design and evaluation of the feed-forward control techniques. Feed-forward control schemes based on input shaping and filtering techniques are to be examined. The proposed techniques are designed based on the properties of the system for anti-sway control. The responses of the rotary crane system to the shaped inputs are analyzed in time and frequency domains. Performances of the control schemes are examined in terms of sway angle reduction and time response specifications. Finally, a comparative assessment of the proposed control techniques is presented and discussed.

Key Words
1. Introduction
2. The Rotary Crane System
3. Dynamic Modelling of the Rotary Crane
4. Input Shaping Control Schemes
5. Filtering Techniques
6. Implementation and Results
6. Summaries
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