Anti-sway crane control based on dual state observer with sensor-delay correction

Recently, a container crane is requested to operate smoothly and quickly. For this purpose, the control system of container crane should have an anti-sway control technique to suppress its vibration phenomenon. A vision sensor system to detect the sway angle is often used. However, since the control system with vision sensor has the delay time in detection, it sometimes has the deterioration of control performance owing to the delay time influence. In order to overcome this problem, this paper proposes a new anti-sway crane control based on dual state observer with sensor-delay correction. The effectiveness of the proposed method is verified by the numerical simulation results and the experimental results.