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Oscillation Control in Knuckle Cranes by Mahika Matta is a document available to read on EtoBox.
This paper presents a comprehensive mathematical model for knuckle boom cranes, focusing on controlling their underactuated dynamics to reduce load oscillations. A nonlinear control strategy based on energy considerations is proposed, along with stability and convergence analysis using LaSalle’s invariance principle. Simulation results demonstrate the effectiveness of the control method in guiding the crane to desired positions while minimizing oscillations.
- Author
- Mahika Matta
- Language
- EN