Operator-based robust non-linear control for gantry crane system with soft measurement of swing angle

In this paper, a robust non-linear control scheme is proposed for a gantry crane system with estimation of swing angle by using operator-based robust right coprime factorisation approach. By analysing properties of the crane system, it shows that displacement distance and swing angle are the two main goals. But, there exists only one input force. Also, in real gantry crane system, it is difficult to measure the swing angle. As a result, real-time estimation of the swing angle is presented by using data-based SVM model, where a generalised Gaussian function is adopted as the kernel function. The difference between the estimation and real value leads some uncertainties. Then, operator-based robust right coprime factorisation approach is presented for the non-linear system with uncertainties. Meanwhile, an optimal tracking controller is designed to ensure the tracking performance. Finally, experimental results are given to show the effectiveness of the proposed scheme.