Gain-scheduled positioning control for varying rope length in travelling cranes

Hidekazu Nishimura, Hideaki Tanemura, Kenzo Nonami

Research output: Contribution to journalArticlepeer-review

11 Citations (Scopus)


In this paper we report a design method for controlling a travelling crane mounted on a flexible structure. In order to control the position of the crane cart, the sway of the crane rope and the vibration of the flexible structure, a robust servosystem is designed using the normalized coprime factor H robust stabilization approach. We consider varying the length of the crane rope in positioning control and schedule the H compensator in accordance with varying the natural frequency of the crane rope. By numerical calculation the settling performance of the gain-scheduled H compensator is compared with that of a switching H compensator. We verify the efficiency of the gain-scheduled H compensator.

Original languageEnglish
Pages (from-to)2692-2698
Number of pages7
JournalNippon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number599
Publication statusPublished - 1996
Externally publishedYes

ASJC Scopus subject areas

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


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