Design & Control of a Gantry Crane System with Limited Payload Angle using Robust & State Feedback Controllers

In this paper, the performance improvement of a payload angle deflection of a gantry crane has been studied and simulated using Matlab/Simulink toolbox successfully. H 2 optimal and observer based controllers has been used to minimize the payload angular deflection by controlling the trolley position. The gantry crane has been compared with the proposed controllers to track the reference trolley position using step and sine wave signals and a promising results have been achieved.

Content

Author and article information

Journal

Title: ScienceOpen Preprints

Publisher: ScienceOpen

Publication date (Electronic preprint): 17 August 2020

Affiliations

[1 ] School of Electrical and Computer Engineering

Author information

Mustefa Jibril https://orcid.org/0000-0002-3165-2410

Article

DOI: 10.14293/S2199-1006.1.SOR-.PPB0TPJ.v1

SO-VID: 089a7cfd-fa91-4e12-9d65-da373355fafd

License:

This work has been published open access under Creative Commons Attribution License CC BY 4.0 , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited. Conditions, terms of use and publishing policy can be found at www.scienceopen.com .

History

Date received : 17 August 2020

Data availability: All data generated or analysed during this study are included in this published article (and its supplementary information files).

ScienceOpen disciplines: Engineering

Keywords: Gantry crane, Trolley, Payload, H 2 optimal, Observer based controller