Abstract
A method is proposed to estimate the sway angel by minimal-order observer using data from an angular velocity sensor mounted on the load. (1) Some parameters which are difficult to identify exist in the crane system. The matrix L which controls an observer is constructed so as not to be influenced by these parameters. (2) The measured angular velocity includes a higher frequency vibration caused by the pitching motion of the load. The pole of the observer is set to minimize this influence. The observer designed in this way is valid for the estimation of the sway angle using angular velocity sensor output.
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