Nonlinear coupling control laws for an underactuated overhead crane system

In this Paper, we consider the regulation control problem for,an underactuated overhead crane system. Motivated by recent passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate, the planar gantry position and the payload angle. Specifically, utilizing LaSalle's invariant set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead,crane system. Motivated by the desire to achieve improved transient performance, we then present two nonlinear controllers that increase the coupling between the planar gantry position and the,payload angle. Experimental results are provided to illustrate the improved performance of the nonlinear controllers over the simple PD controller.