Anti-sway system for boom cranes based on a model predictive control approach

In the paper a model predictive control (MPC) approach for the automation of a boom crane with anti-sway functionalities is presented. In contrast to existing solutions the coupled nonlinear differential equations are considered in the dynamic model. The rope angle is measured by gyroscopes and reconstructed by observers. The system is realized on LIEBHERR harbor mobile cranes. Measurement results show the efficiency of the approach.