Smart Wireless Gantry Crane System

Abstract

The main objective of this work is to design robust, fast, and practical controllers for gantry crane. The controllers are designed to transfer the load from point to point as fast as possible and, at the same time, the load swing is kept small during the transfer by automatic smart control system and completely vanishes at the load destination. Moreover, variations of the system parameters, such as the cable length and the load weight, are also included. Practical considerations, such as the control action power, and the maximum acceleration and velocity, are taken into account. In addition, friction effects are included in the design using a friction-compensation technique