介绍一种桥式卸船机抓斗的定位和防摆控制方法。
An anti-swing and position control of bridge type grab shipunloader is proposed.
针对桥式吊车水平运动系统是一个非线性、变参数、强耦合的对象，采用非线性PID控制器进行定位和防摆控制。仿真实验结果表明，系统具有良好的动态、静态特性和强的鲁棒性。
As to the horizon motion system of Bridge Crane is a nonlinear, variation parameter and strong coupling system, the nonlinear PID controller is used for positioning and anti-swing.
针对吊车系统定位和防摆的控制要求，提出了一种基于嵌套饱和方法的非线性控制策略。
A nonlinear control strategy based on nested saturation approach is presented for an overhead crane to achieve positioning and anti-swing control.
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