Control of A Tower Crane without Sensor for Load-Rope Angle (2DOF Control Using Final-State Control Method with Error Learning)

Kiyoshi Takagi, Hidekazu Nishimura, Yuko Uchida

Research output: Contribution to journalArticle

3 Citations (Scopus)


This paper deals with control of a crane mounted on a tower-like flexible structure called the “Tower crane” by using no sensor for the load-rope angle, since it is difficult to put the sensor on a real tower crane. We make its models and design the two-degree-of-freedom control system. The feedback controller that does not use the sway angle signal is designed by considering the coupling between the load sway and the crane itself. The feedforward input is designed by the final-state control method with error learning. By experiments it is verified that the 2 DOF controller without the sensor for the load-rope angle has almost same performance as the feedback controller alone with the sensor.

Original languageEnglish
Pages (from-to)999-1007
Number of pages9
JournalNihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C
Issue number656
Publication statusPublished - 2001 Jan 1
Externally publishedYes



  • Final-State Control Method
  • H Compensator
  • Positioning Control
  • Tower Crane
  • Two-Degree-of-Freedom Control System
  • Vibration Control

ASJC Scopus subject areas

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

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