Decentralized control of a tower crane

Kiyoshi Takagi, Hidekazu Nishimura

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)


This paper deals with modeling and control of a crane mounted on a tower-like flexible structure. A fast transfer of the load causes the sway of the load rope and the vibration of the flexible structure. Our object is to control both the sway and the vibration by the inherent capability of the tower crane. This paper makes its three-dimensional models for simulation and reduced-order-model in order to design the decentralized control system. Then, we design the decentralized Hoo compensator and verify the efficiency by simulations and experiments.

Original languageEnglish
Title of host publicationInternational Symposium on Motion and Vibration Control
PublisherAmerican Society of Mechanical Engineers (ASME)
Number of pages7
ISBN (Electronic)9780791819760
Publication statusPublished - 1999
Externally publishedYes
EventASME 1999 Design Engineering Technical Conferences, DETC 1999 - Las Vegas, United States
Duration: 1999 Sept 121999 Sept 16

Publication series

NameProceedings of the ASME Design Engineering Technical Conference


ConferenceASME 1999 Design Engineering Technical Conferences, DETC 1999
Country/TerritoryUnited States
CityLas Vegas

ASJC Scopus subject areas

  • Mechanical Engineering
  • Computer Graphics and Computer-Aided Design
  • Computer Science Applications
  • Modelling and Simulation


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