Control of A Tower Crane for Up-and-Down and Rotational Directions using The Decentralized Control System

Kiyoshi Takagi, Hidekazu Nishimura

Research output: Contribution to journalArticle

4 Citations (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 model for simulation and the reduced-order models in order to design the decentralized control system. Then, we design the decentralized H compensator for up and down and rotational directions. The simulation and experimental results verify the efficiency of the designed control system.

Original languageEnglish
Pages (from-to)4692-4699
Number of pages8
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number640
Publication statusPublished - 1999
Externally publishedYes



  • Decentralized Control System
  • Flexible Structure
  • H Compensator
  • Positioning Control
  • Robust Control
  • Tower Crane
  • Vibration Control

ASJC Scopus subject areas

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

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