Approximate nonlinear control for a two degree of freedom overhead crane: theory and experimentation

S. C. Martindale, D. M. Dawson, J. Zhu, Christopher D. Rahn

Research output: Contribution to journalConference articlepeer-review

25 Scopus citations


In this paper, we develop nonlinear algorithms for accurately controlling the payload position for a two-degree of freedom overhead crane system. Since this model does not lend itself to nonlinear control design in a straightforward manner, we develop an approximate model of the system which facilitates the construction of error systems suitable for the development of back-stepping type controllers. A Lyapunov-like argument is then applied to the approximate model under the proposed control to elucidate payload positioning performance. Experimental results are used to validate the performance of the control approach. A discussion of cable flexibility and actuator dynamics is also presented.

Original languageEnglish (US)
Pages (from-to)301-305
Number of pages5
JournalProceedings of the American Control Conference
StatePublished - Jan 1 1995
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering


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