Partial Feedback Linearization Control of the three dimensional overhead crane

Based on the partial feedback linearization, a novel nonlinear controller is analyzed and designed for three dimensional motion of overhead crane. Three control inputs composed of bridge moving, trolley travelling, and cargo hoisting forces are used to drive five state variables consisted of bridge motion, trolley movement, cargo hoisting displacement, and two cargo swing angles. The control scheme is constituted by linearly combining two components: one is got from the nonlinear feedback of actuated states and the other is received from that of un-actuated states. To verify the quality of control process, the numerical simulation is executed. The received results show that the proposed controller asymptotically stabilizes all system states.