Zhang, S., Liu, X., Basin, M., Zhu, H., Han, C., & He, X. (2025). Nonlinear Control for Underactuated Overhead Crane Using Composite Outputs under Constraints. IECON 2025 – 51st Annual Conference of the IEEE Industrial Electronics Society, 1–6. https://doi.org/10.1109/iecon58223.2025.11221488
Abstract:
This study presents a nonlinear feedback regulator for three-dimensional overhead cranes that exploits composite outputs to deliver potent sway suppression. Dedicated barrier functions confine these composite signals within set limits. Owing to the simple structure, the control scheme maintains oscillation suppression under velocity and cable length uncertainties. We validate stability through a Lyapunov-based proof augmented by LaSalle’s invariance principle. Simulation results confirm that the controller achieves trolley positioning and effectively cancels oscillations under external disturbances.
License type:
Publisher Copyright
Funding Info:
There was no specific funding for the research done