ABSTRACT
This chapter describes the control of bridge cranes having single-pendulum dynamics, double-pendulum dynamics, and distributed-mass payload dynamics. The corresponding dynamic analyses have been derived. Control methods for single-pendulum dynamics, double-pendulum dynamics, and distributed-mass payload dynamics have been proposed. The control methods are effective to reduce payload oscillations for various working conditions and system parameters. Simulations and experiments were used to verify the key dynamic behavior of mathematical model and the effectiveness of control methods.
