Abstract
AbstractIn crane automation systems, precise knowledge of the load position is a key factor for fulfilling positioning accuracy requirements. This contribution presents a nonlinear observer design for harbor cranes which makes use of gyroscope measurements. Both single-pendulum load configurations and more complex double-pendulum configurations are considered. The gyroscope sensors are attached to the rope near the top rope suspension point in both cases. The observer is implemented as an Extended Kalman Filter. The results are compared to RTK-GPS reference measurements.
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