Nonlinear Controller For Gantry Crane Based On Partial Feedback Linearization

Azan Hariz , Ab Latif (2010) Nonlinear Controller For Gantry Crane Based On Partial Feedback Linearization. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Gantry crane systems are widely used in harbors' and factories for loading and unloading of goods. The crane systems are desired to be able to move to the required positions as fast as possible while placing the payload at the appropriate position. To get that condition, the payload swing angle should be kept as small as possible. Based on partial feedback linearization, the portion of the dynamics corresponding to the active degrees of freedom is linearized by nonlinear feedback controller. The trajectory tracking control of the linearized system is studied by choosing the active degrees as the systems outputs. The portion of the dynamics corresponding to the passive degrees of freedom is taken as the internal dynamic of the crane system, and the analysis of the resulting zero dynamics shows the control system. Finally, experimental results on the scale crane shows feasibility of the developed controller design scheme.

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