The Industrial Control of Tower Cranes: An Operator-in-The-Loop Approach [Applications in Control]

Cranes are the workhorses inside the field of construction throughout the world (see "Summary"). The 2D construction crane modeled as a simple cart pendulum (Figure S1) constitutes a basic mechanical system that is also pervasive in control textbooks [7] due to its simplicity and apparent practical relevance. Despite the fact that a large body of control theory literature applies to (linearized or nonlinear) problems, stabilizing the payload (or, more prosaically, combating the sway) is still done manually by operators in the field.