Abstract
The purpose of this paper was to develop a control system for a shipboard crane that considers safety and work efficiency. A shipboard crane model was built and a straight-transfer transformation control system was designed. In order to realize transfer trajectory control, a Two-Degree-of-Freedom (2-DOF) control system was applied. It was demonstrated that the work efficiency of transferring a load to a target position can be improved by considering shipboard sway, by using a 2-DOF system that combines a feedforward control system with a feedback control system, and making the transfer trajectory follow the desired one.
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