Optimal analysis and control of 2D nonlinear gantry crane system

This paper presents a dynamic behaviour of a non linear and linear model of a gantry crane system based on the system parameters. The non linear model was derived using Lagrange equation followed by linearization using Taylor´s series approximation. MATLAB simulation results confirmed that the trolley displacement and payload oscillation are dependent on the system parameters; cable length, payload mass and trolley mass. Also, a state feedback controller was proposed using the Lyapunov approach and it proved to stabilize the system dynamics.