ABSTRACT
This chapter describes the control of bridge cranes having dual-crane dynamics. Dual-crane dynamics are complicated such that operating dual cranes are very challenging. Dynamic model of dual cranes was derived. Then corresponding dynamic analyses are described. The control method was presented to reduce payload oscillations for various working conditions and system parameters. Meanwhile, the method provided enough robustness to variations in the frequency. Simulations and experiments were used to verify the key dynamic behavior and the effectiveness of control methods.
Dual quadrotors slung large-size loads are also reported in this chapter. A novel dynamic model is derived. The model is very complicated such that the model reduction is also described. A novel control method is effective to suppress oscillations of vehicle attitude and load swing.
