Nonlinear Tracking Control of 3-D Overhead Cranes Against the Initial Swing Angle and the Variation of Payload Weight

In this brief, we propose a nonlinear tracking control method of 3-D overhead crane systems which works well even in the presence of the initial swing angle and the variation of payload weight. Besides the practical importance of the overhead cranes, this study is also theoretically interesting because four variables (trolley and girder positions, two swing angles) should be controlled using two control inputs (trolley and girder forces). To...