... a velocity observer. Another advantage is its robustness to modeling uncertainties, since it can be calculated independently of the plant structure. A gantry crane is selected as case study, yielding simulation and experimental results that show the good performance of this technique. 04 06 2010 15...

... by the quantized signals from the corresponding output yielded by the continuous-valued signals before quantization. Then, its experimental evaluation is performed by using a crane positioning system with a discrete-valued input to demonstrate the effectiveness of the proposed quantizers. 23 02 2009 12...

... the reduced-overtravel shapers. Experiments from a portable bridge crane verify the theoretical predictions of improved performance. Results from a study of eight industrial bridge crane operators indicate that utilizing the new reduced-overtravel input shapers dramatically reduces task completion time, while...

...Raymond Manning; Jeffrey Clement; Dooroo Kim; William Singhose The large-amplitude and lightly-damped oscillation of crane payloads is detrimental to safe and efficient operation. The problem is further complicated when the payload creates a double-pendulum effect. Previous researches have shown...

... and overcurrenting mitigation are evaluated using a three-dimensional simulation of a bridge crane, and experimental results from a 10 ton industrial bridge crane. Khalid , A. , Huey , J. , Singhose , W. , Lawrence , J. , and Frakes , D. , 2006 , “ Human Operator Performance Testing Using...

... to compensate for the detrimental effects of the constant acceleration limit. Experimental results from an industrial crane support the main theoretical results. Nonlinear system is reduced to a linear system Proof: The shaped-step command, indicated by v s in Fig. 8a , can be written...

...William Singhose; Dooroo Kim; Michael Kenison Large amplitude oscillation of crane payloads is detrimental to safe and efficient operation. Under certain conditions, the problem is compounded when the payload creates a double-pendulum effect. Most crane control research to date has focused...

... the transient deflection to a predetermined ratio of the base line deflection resulting from an arbitrary reference command. Computer simulations and experiments on a bridge crane verify the efficacy of the new command shapers. While most input shaping techniques focus on eliminating residual vibration, few...

...Ziyad N. Masoud Cranes play a very important role in the shipping industry. As a result there is an increasing demand on faster and safer cranes. Inertial forces on crane payloads due to crane-commanded trajectories can cause payloads to experience large sway oscillations. Consequently, sway...

...Ho-Hoon Lee; Yi Liang; Del Segura In this paper we propose a sliding-mode antiswing control for overhead cranes. The objective of this study is to realize an antiswing trajectory control with high-speed load hoisting. A sliding-mode antiswing trajectory control scheme is designed based...

...Attir Khalid; John Huey; William Singhose; Jason Lawrence; David Frakes The payload oscillation inherent to all cranes makes it challenging for human operators to manipulate payloads quickly, accurately, and safely. An input-shaping controller was implemented on a large bridge crane at the Georgia...

...Zhonghua Wang; Brian W. Surgenor The control of an overhead crane is a classic optimum control problem, and its solution can be found in most textbooks on the subject of automatic controls. However, there is a design issue with respect to the relative mass of the cart and the suspended payload...

...Ho-Hoon Lee This paper proposes a motion-planning method for a high-performance anti-swing control of overhead cranes, where the motion-planning problem is solved as a kinematic problem. First, an anti-swing regulating control law is proposed based on the Lyapunov stability theorem, where...

...William J. O’Connor Rest to rest movement of a crane’s swinging load, at the bottom end of a cable, by moving a speed-limited gantry trolley at the top, involves resolving the apparently conflicting demands of exact load positioning and active swing damping. If system parameters are unknown...

...Kamal A. F. Moustafa This paper addresses the automation problem of overhead cranes. A feedback control strategy is proposed so that the crane travel and hoisting or lowering motions are forced to track a given reference trajectory while killing the payload swing angle. Stability analysis...