Anti-sway Control for Cranes

Dianwei Qian, North China Electric Power University, Beijing, China

• Table of content: Chapter 1 Introduction Chapter 2 System Model 2.1 Modelling via the Lagrangian method2.2 Model Insight Chapter 3 Passivity-based anti-sway control 3.1 What is Passivity?3.2 Passivity Analysis3.3 Control design based on Passivity3.4 Simulation Resuls3.5 Source codes Chapter 4 Sliding-mode-based anti-sway control 4.1 Sliding mode and sliding mode control4.2 Incremental sliding mode design and stability analysis4.3 Simulation results4.4 Hierarchical sliding mode design and stability analysis4.5 Simulation results4.6 Source codes Chapter 5 Fuzzy-logic-based anti-sway control5.1 Fuzzy logic and fuzzy control5.2 Single-input-rule-modules based fuzzy systems5.3 SIRM-based anti-sway control design5.4 Simulation results5.5 Source code Chapter 6 Output feedback based anti-sway control6.1 Why is the output feedback needed?6.2 Output-based anti-sway control design and stability analysis6.3 Simulation results6.4 Source code Chapter 7 Input shaping based anti-sway control7.1 Input shaping and its merits7.2 Input shaping-based anti-sway control design7.3 Simulation results7.4 Input shaping based fuzzy anti-sway control design7.5 Simulation results7.6 Source code Chapter 7 Conclusions