Date of Award

Summer 2005

Document Type

Thesis - Restricted

Degree Name

Master of Science (MS)


Mechanical Engineering

First Advisor

Schmidt, Peter B.

Second Advisor

Brown, Ronald H.

Third Advisor

Joshi, Shrinivas G.


Many research efforts have been performed for the development of crane control systems and for improving the efficiency and safety of them. Despite the numerous crane control strategies in the literature, very few designs are applicable in practice. In this work a crane control strategy has been established in a manner that can be easily implemented in practice. The main contributions of this work can be summarized into applying feedforward and positive feedback controllers in order to improve the command velocity response and provide a minimum load sway during the load transportation, respectively. Moreover, the positive feedbacks from the load sway angle and its velocity improve the crane control dynamic behavior in the presence of an external disturbance such as wind gust. The robustness and simplicity of this method in conjunction with minimal sensor requirements are other advantages of the presented control strategy in this thesis.



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