6 – 11 For the open-loop control strategy is sensitive to initial disturbances, the closed-loop control and advanced intelligent techniques are also designed to control the vibrations of crane. With the rapid development of automatic control and artificial intelligence, various intelligent control techniques are applied to the robotic system. Besides, it also orders an end previously, but in actual engineer, the end is often adjusted by the operators. This kind of method is sensitive to the change of system parameters. However, the input shaping and optimum control algorithm mentioned are open-loop control. The proposed STT model can effectively eliminate the influence of centrifugal force.

5 provide a straight transfer transformation (STT) model to control the rotary crane. Alhazza and colleagues, 3, 4 focusing on the overhead crane, design a novel wave form command shaper of adjustable maneuvering time, which can effectively reduce load vibrations in intermittent maneuvers.

2 present command-shaping approaches to reduce the operator-induced payload swing for a ship crane. 1 Input-shaping is one of the common control techniques. Researchers used many techniques to achieve these goals. The main objectives of crane control research are to reduce or eliminate residual vibrations at the end of maneuvers, reduce maneuvering time, and enhance safe operating conditions. During the transfer operation, the operator has to deal with the sway of the ship. Ship sway is generated by disturbances such as waves and winds, as well as movements of the load. The ship-mounted crane is more difficult to operate under the influence of the ship sway. In addition, there are still many issues in the performance of rotary cranes, such as load sway, positioning, and obstacle avoidance. The rotary cranes transfer loads by three motions: rotation, luffing, and load hoisting.

Ship-mounted cranes, which transfer loads using a rotary crane attached to the ship’s deck, are widely used to transfer cargos from ships to the harbor, or between two ships.

Ship simulator extremes controller