Abstract
This paper is concerned with the optimal control of a rotary crane, which makes two kinds of motion (rotation and hoisting) at the same time. The optimal control which transfers a load to a desired place as fast as possible and minimizes the swing of the load during the transfer, as well as the swing at the end of transfer, is calculated on the basis of a dynamic model. A new computational technique is employed for computing the optimal control, and several numerical results are presented.
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Communicated by D. G. Hull
The authors wish to thank Professor D. G. Hull and the reviewers for their valuable comments and suggestions.
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Sakawa, Y., Shindo, Y. & Hashimoto, Y. Optimal control of a rotary crane. J Optim Theory Appl 35, 535–557 (1981). https://doi.org/10.1007/BF00934931
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DOI: https://doi.org/10.1007/BF00934931