An inversion‐based Feedback/Feedforward control for robust and precise payload positioning in gantry crane systems

This paper deals with Feedback/Feedforward (FB/FF) control of a gantry crane system intended for the transport payloads that take values over known interval. It is also assumed affected by unmeasurable disturbances. A new 2DoF architecture proposed whose purpose to speed up horizontal payload transition while minimizing its oscillations. The main features design procedure are as follows: (1) output FB controller designed ensure robust closed loop stability and steady-state exact positioning; (2) disturbance estimated means an observer, transient effect compensated through FF action; (3) action given optimally weighted sum two contributions due Plant Inversion (FFPI) Closed Loop (FFCLI) schemes.