Abstract
Large rotary cranes have a lattice structure tower boom which causes torsional deformation when transporting heavy loads. Therefore, it is necessary to design a controller that takes into account the torsion of the tower boom to control the load-sway and position of the jib. This study proposes a linear state-space model of rotary cranes that takes into account the torsion of the tower boom which stands vertically, and designs a controller using this model. Both simulation and experimental results are investigated to illustrate the superior performance of the controller designed in this study.
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