Abstract:This paper considers an active control system that reduces pendulation of suspended loads for the underactuated characteristic of the three-dimensional davit system. The dynamic model is established with the Lagrange equation and the anti-swing controller of davit system is designed based on the system's energy. Compared with other anti-swing controllers of the marine davit, it adopts active pendulation control and doesn't need approximately decoupling and linearization. And it still can restrain pendulation o… Show more
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