Gantry cranes have attracted extensive attention that are mostly simplified as nonlinear single pendulum systems without load hoisting/lowering. However, due to the existence of hook in practice, gantry produce double effect. With an extra underactuated degree freedom, anti-swing control becomes more difficult than cranes. Moreover, with hoisting/lowering may cause large swings, which lead inac...

Abstract By the current research, a PID tuning procedure is developed to control of an overhead crane. To enable the crane to reach a desired position, a controller design strategy must be used. This work presents a simple and efficient enough approach to control of the overhead crane based on designing a PID controller. Ziegler-Nichols method is used to initiate gains setting for PID controlle...

For antiswing control of underactuated cranes, how to guarantee the converging speed cranes through design is essential but still remains unsolved. In this article, adaptive for gantry with guaranteed transient performance under unmodeled dynamics and external disturbances investigated. To sovle problem, a set filters are proposed make backstepping technique applicable crane systems. Then varia...

When suspended payloads are moved in a material handling environment pendulum like oscillations are naturally introduced. This presents a problem any time especially when expensive and/or delicate objects are moved. In a steel industry environment objects have to be placed in tight locations after finishing up of rolling. Typically an object (rolled coil) is lifted by a hook on the end of a cab...

In a normal port operation, yard cranes are used to move containers from one location to another for import, export or relocation purposes. In order to locate the positions of containers, a database is set up in the office server to store the current locations of existing containers within the yard. Whenever the Rubber Tyred Gantry (RTG) crane operator moves a container around, the database has...