Sensorless control of the three-dimensional crane using the Euler-Lagrange approach with a built-in state-spaee model

The mathematical model of the three-dimensional crane using the Euler-Lagrange approach is derived. A sensorless control solution for the system based on the model is proposed and explored in the Simulink® environment and on the laboratory stand. The obtained control design was simulated, analyzed and compared with existing encoder-based system provided by the 3DCrane manufacturer Inteco®. The topicality of the problem is due to the widely usage of gantry cranes in industry. The solution is proposed for the future research in sensorless and intelligent control of complex motor driven application.