ationofthepayload,isnotcompensated.SouissiandKoivoconsiderarotarycraneundergoingaboom-rotation-boommaneuverusingaproportional-integral-derivativecontrollersimilartoFliesset。
al..Thesimulationmodelconsidersbothradialandtangentialpayloadsway,however,thecontrolstrategyusedresultsinresidualloadoscillation.Inthispaperaprocedureforgeneratingopen-loopinputsforarotaryjibcraneisintroduced.Theprimarymaneuverofinterestistheresidualoscillation,point-to-pointmovementofapayload.Theinputangularaccelerationtothejibmotorispostulatedashavingapulse-coast-pulseform.Anumericaloptimizationtechniqueisusedtogeneratetheparameterswhichdefinethispulsesequencesuchthatthemaneuverisresidualoscillationfree.Ofsecondaryinterestaremaneuverswherethepayloadoscillatesinaspecifiedmannerattheendof--themaneuver.Again,thepulsesequencesaredesignedvianumericaloptimiza接近尾声时,提供明显