Gain-scheduled control of a tower crane (verification test of an actual tower crane)

Takaaki Nishikawa, Susumu Shimoda, Hidekazu Nishimura, Kouji Tanida

Research output: Contribution to journalArticlepeer-review

1 Citation (Scopus)


A crane mounted on a tower-like flexible structure called Tower Crane has a problem that fast transfer of the load causes the sway of the load and the vibration of the flexible structure. Our objective is to reduce both the sway and the vibration using the controller for motors which drive the boom, while an operator gives some commands to transfer the load. We have proposed the gain-scheduled H control method to design the controller, and have already shown its efficiency for a onethirty fifths scale model of the tower crane. In this paper the controller for an actual tower crane is designed and implemented in the existing control system and its effectiveness is verified from the experimental results.

Original languageEnglish
Pages (from-to)1155-1162
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number765
Publication statusPublished - 2010 May
Externally publishedYes


  • Flexible structure
  • Position control
  • Tower crane
  • Vibration control

ASJC Scopus subject areas

  • Mechanics of Materials
  • Mechanical Engineering
  • Industrial and Manufacturing Engineering


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