Position control and vibration suppression of a flexible overhead crane system

Abstract

Trolley positioning and payload swinging control problem of a flexible overhead crane system is addressed in this paper. The system’s equations of motion that couple the crane’s cable and actuators dynamics are derived via extended Hamilton’s principle. The control signal is designed based on the Lyapunov direct method and backstepping control. The stability of the closed loop system is proven. Numerical simulations are included to demonstrate the effectiveness of the proposed control.