Amplitude-Saturated Nonlinear Output Feedback Antiswing Control for Underactuated Cranes With Double-Pendulum Cargo Dynamics

When modeling cranes, the hook and the suspended cargo are usually regarded roughly as one mass point for simplicity, i.e., the cargo swing is modeled as that of a single pendulum. However, in practice, when the hook mass is nonnegligible or the cargo has a large size, the crane always exhibits doub...

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