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Abstract
In this paper, the posture and tracking control is presented for autonomous overhead crane. First, a rotary mechanics is developed and formularized. Secondly, an optimal servo controller is designed in order to avoid the obstacles by rotating and traveling. In order to improve the control performance, the preview servo controller, which synchronizes the rotary motion with traveling motion, is implemented. Furthermore, time-varying controller is applied in order to minimize the superficial error between the reference and output. Finally the effectiveness of proposed controller is shown through experiments and simulation.
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