Modeling and energy-based sway reduction control for tower crane systems with double-pendulum and spherical-pendulum effects
As typical underactuated systems, tower crane systems present complicated nonlinear dynamics. For simplicity, the payload swing is traditionally modeled as a single-pendulum in existing works. Actually, when the hook mass is close to the payload mass, or the size of the payload is large, a tower cra...
| Main Authors: | , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
SAGE Publishing
2020-01-01
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| Series: | Measurement + Control |
| Online Access: | https://doi.org/10.1177/0020294019877492 |