3614
博碩士論文
Engineering Science and Mechanics
The main objective of this work is to design robust, fast, andpractical controllers for gantry and tower cranes. The controllers aredesigned to transfer the load from point to point as fast aspossible and, at the same time, the load swing is kept smallduring the transfer process and completely vanishes at the loaddestination. Moreover, variations of the system parameters, suchas the cable length and the load weight, are also included.Practical considerations, such as the control action power, an...