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A bridge crane is a complicated nonlinear underactuated mechatronic system, for which high-speed positioning and anti-swing control is the kernel objective. Existing methods for varying cable length cranes require either linearizations or approximations, when performing analysis, and they usually assume small load swing; moreover, the ranges of the tracking errors cannot be guaranteed during the overall...
We propose in the present paper an energy coupling-based output feedback (OFB) control scheme for 4 degrees-of-freedom (4-DOF) overhead cranes under control input constraints. Unlike existing crane control methods, the proposed approach can achieve superior control performance using only trolley-position/payload-swing feedback with saturated control inputs. In particular, a new concept regarding virtual...
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