Anti-sway Control for Cranes

Table of content:

Chapter 1 Introduction

Chapter 2 System Model

2.1 Modelling via the Lagrangian method
2.2 Model Insight

Chapter 3 Passivity-based anti-sway control

3.1 What is Passivity?
3.2 Passivity Analysis
3.3 Control design based on Passivity
3.4 Simulation Resuls
3.5 Source codes

Chapter 4 Sliding-mode-based anti-sway control

4.1 Sliding mode and sliding mode control
4.2 Incremental sliding mode design and stability analysis
4.3 Simulation results
4.4 Hierarchical sliding mode design and stability analysis
4.5 Simulation results
4.6 Source codes

Chapter 5 Fuzzy-logic-based anti-sway control
5.1 Fuzzy logic and fuzzy control
5.2 Single-input-rule-modules based fuzzy systems
5.3 SIRM-based anti-sway control design
5.4 Simulation results
5.5 Source code

Chapter 6 Output feedback based anti-sway control
6.1 Why is the output feedback needed?
6.2 Output-based anti-sway control design and stability analysis
6.3 Simulation results
6.4 Source code

Chapter 7 Input shaping based anti-sway control
7.1 Input shaping and its merits
7.2 Input shaping-based anti-sway control design
7.3 Simulation results
7.4 Input shaping based fuzzy anti-sway control design
7.5 Simulation results
7.6 Source code

Chapter 7 Conclusions