Payload motion control for a varying length flexible gantry crane

Cranes play a very important role in transporting heavy loads various industries. However, because of its natural swinging characteristics, the control crane needs to be considered carefully. This paper presents approach flexible cable system consideration both rope length varying and constraints. At first, from Hamilton's extended principle equations motion that characterized coupled transverse-transverse motions with gantry are obtained. The consist partial differential equations. Then, barrier Lyapunov function is used derive located at trolley end can precisely position payload minimize vibrations. designed verified through extensive experimental studies.