Gain Scheduled Motion Control of an Overhead Traveling Crane

Abstract This paper presents a gain scheduling approach to motion control of an overhead traveling crane using feedforward and feedback control as well as observer based disturbance rejection. All control system components are derived in symbolic form and adapted online to the varying system parameters rope length, load mass, and trolley position. The effectiveness of the developed control scheme is shown by experimental results from a 5 t - overhead traveling crane. Here, trajectory tracking performance as well as the compensation of disturbance forces caused by nonlinear friction and wind impact are presented.