불충분한 작동기를 가진 매니퓰레이터의 비선형제어

Nonlinear Control of Residual Say of a Container Crane in the Perspective of Controlling an Underactuated System

In this paper the sway-control problem of a container crane is investigated in the perspective of controlling an underactuated mechanical system. For fast loading/unloading of containers from the ship, quick suppression of the remaining swing motion of the container at the end of each trolley stroke is crucial. Known nonlinearities are fully incorporated by feedback linearization. Robustness is enhanced by variable structure control. Compared with the linear LQ control, much better performance can be obtained.