Research Article
An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect
Table 4
Quantified results under condition
.
| Control method | The maximum value of tracking error [deg] | The maximum value of tracking error [deg] |
| Proposed controller | 3.36 | 3.81 |
| Conventional controller | 3.10 | 3.75 |
| ā | The maximum value of hook sway angle [deg] | The maximum value of hook sway angle [deg] |
| Proposed controller | 2.40 | 2.31 |
| Conventional controller | 3.01 | 3.00 |
| ā | The maximum value of load sway angle [deg] | The maximum value of load sway angle [deg] |
| Proposed controller | 2.76 | 2.81 |
| Conventional controller | 4.21 | 5.14 |
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