Abstract
The simulation of a jib crane control strategy is reported which transfers a load under the condition of suppressing the load swing both in the transfer process and at the objective position, making the transfer time as short as possible. A non-linear dynamic equation of the load in a jib crane motion is derived. By linearizing the equation and giving a cost function of the second order, the control problem becomes LQ-type with control constraint u. Computer simulations show that this control strategy is able to suppress the load swing by the extending or shrinking motion of the boom.
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