NONLINEAR CONTROL STRATEGIES AND PLANNING FOR UNDERACTUATED OVERHEAD CRANES

Abstract

Underactuated overhead cranes play an important role in engineering and construction, which also make nonlinear control strategies and planning on this basis become the current focus of academic research. Based on scholarly research findings, this paper carries out a theoretical study on nonlinear control strategies and planning for underactuated overhead cranes. To begin with, the underactuated system, underactuated overhead cranes and its nonlinear control are elucidated. Afterwards, the stabilization methods for front actuators are analyzed, and finally two nonlinear control methods are explored in the hope of providing some references for research in related fields