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Journal of Applied Nonlinear Dynamics
Miguel A. F. Sanjuan (editor), Albert C.J. Luo (editor)
Miguel A. F. Sanjuan (editor)

Department of Physics, Universidad Rey Juan Carlos, 28933 Mostoles, Madrid, Spain


Albert C.J. Luo (editor)

Department of Mechanical and Industrial Engineering, Southern Illinois University Ed-wardsville, IL 62026-1805, USA

Fax: +1 618 650 2555 Email:

Design of the State Feedback-Based Feed-Forward Controller Asymptotically Stabilizing the Overhead Crane at the Desired End Position

Journal of Applied Nonlinear Dynamics 10(2) (2021) 339--350 | DOI:10.5890/JAND.2021.06.012

Robert Vrabel

Slovak University of Technology in Bratislava, Faculty of Materials Science and Technology, Institute of Applied Informatics, Automation and Mechatronics, Bottova~25, 917 01 Trnava, Slovakia

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The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from the dynamical system theory, a linear, continuous state feedback-based feed-forward controller that stabilizes the crane system at the desired end position of payload is designed. The efficacy of proposed controller is demonstrated by comparing the simulation experiment results for overhead crane with/without time-varying length of hoisting/lowering rope.


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