Traveling crane using H/sub 2/ controller based on minimal order observer

For a traveling crane, various control methods such as fuzzy control and optimum control are studied. In the control of an actual traveling crane, it is important to accurately stop the crane at the desired position by positioning control and anti-sway control. In this paper, we designed a control system using an H/sub 2/ controller reduced by the minimal order observer, which is a new approach. The results of simulations show that this system has good performance.