The control system design of a gantry crane based on H∞ control theory

This paper describes a robust controller design procedure based on H∞ control theory for translational mechatronic system, trolley with pendulum. The goal is to achieve fast trolley positioning with minimization of pendulum swinging. This system, trolley with pendulum, represents gantry crane. Minimization of the load transfer time and load swing angle in the crane applications are conflicting control demands and thus proper control action is required. However, friction effect is unavoidable in mechanical parts of the system and significantly influences the control system performances. In this paper H∞ theory based crane controller is designed in order to minimize friction effect. H∞ controller has been tested and compared with the pole placement controller on a laboratory gantry crane model.