Modelling and control of a rotary crane with a flexible joint

A dynamical model is derived for the control of a rotary crane, which has a flexible joint and makes three kinds of motion (rotation, load hoisting and boom hoisting) simultaneously. The goal is to transfer a load to a desired place in such a way that at the end of the transfer the swing of the load decays as quickly as possible. A new open-loop plus feedback control scheme is proposed.