Incremental hierarchical sliding mode control (IHSMC) methodology involves 2n−2 sign switches of controller parameters for an underactuated system with n subsystems. Too many sign switches trouble parameter tuning. This paper presents an adaptive control design approach based on IHSMC methodology for overhead crane systems with 2 subsystems with only 1 sign switch. The system stability is prove...

OBJECTIVES Prolonged sitting with a flexed back and neck is recognized as being associated with an increased risk of neck and back pain disorders among overhead crane operators. The aim of this study was to compare back and head postures over a full shift of work between operators who experience back and neck pain, and healthy operators. METHODS In a first phase, the prevalence of musculoskel...

In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivitybased controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle’s invariant set theorem, we first illustrate how a simple proportional–derivativ...

Abstract A new two-level hierarchical approach to control the trolley position and payload swinging of an overhead crane is proposed. At first level, a simple mathematical pendulum model investigated considering time delay due use vision system. In second chain developed, extending previous vibration suspending chain. The relative displacement measured with sensor, rest state-space variables ar...

Overhead cranes are widely used in industry for transportation of heavy loads. The natural sway of crane payloads is detrimental to safe and efficient operation. However, the crane acceleration, required for motion, always induces undesirable load swing. This paper presents dynamic modelling of a 3-D overhead gantry crane system based on closed-form equations of motion. The Lagrangian method is...