Gain-Scheduled Control of a Tower Crane Considering Varying Load-Rope Length.

This paper discusses control of a crane mounted on a tower-like flexible structure in the case of varying load-rope length. A fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Our object is to control both the sway and the vibration by control of torque to the boom. But if the length of the load rope varies, it is difficult to control by the fixed compensator, bacause the natural frequency of the load rope and gain of the plant to control input vary also. So, we design the gain scheduled H∞ compensator based on the LMI for the length of the load rope and verify the efficiency of the gain-scheduled H∞ compensator by simulations and experiments.