• Corpus ID: 17142344


  author={Xiao Yu},
This paper investigates the design of composite nonlinear feedback (CNF) control law for an underactuated gantry crane system to achieve positioning and anti-swing control. First, the dynamic model of a nonlinear underactuated gantry crane system is established by using the Euler-Lagrange modeling method. Then, the CNF control law is designed for the system to improve the anti-swing performance. The CNF control law is fine tuned with an optimal nonlinear gain tuning method. The numerical… 

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