2016-08-242016-08-242006-05-16http://hdl.handle.net/10919/72526A control system for reducing cargo pendulation. The control system calculates a correction factor and adds the correction factor for the operator input motions in addition to the motion of the platform in order to provide a reference position of the suspension point of the hoisting cable. The reference position is then provided to a tracking controller so that the crane can be forced to track the needed motions for reducing the cargo pendulation.application/pdfen-USPatenthttp://pimg-fpiw.uspto.gov/fdd/14/443/070/0.pdf10678097212/270212/273B66C13/0637044314