Yoshio Tanaka, Yasuo Yoshida, Tetsushi Ueta, Hiroshi Kawakami, Vibration suppressing control of flexible rotary crane using tip position sensor, Journal of Robotics and Mechatronics, Vol.4, No.6, 520-525, June 1993.
Abstract: For vibration suppressing control of flexible rotary cranes, two control methods by the use of a tip position sensor have been proposed. One is a control system that suppresses transient vibrations generated by the impact of switching of driving speeds when Bang-Bang control, open-loop anti-swing control, is completed. The other is a servo system to which vibration suppressing feedback is added. Experiments have confirmed that either system is remarkably effective in suppressing vibration.