Optimal analysis and control of 2D nonlinear gantry crane system

This paper presents a dynamic behaviour of a non linear and linear model of a gantry crane system based on the system parameters. The non linear model was derived using Lagrange equation followed by linearization using Taylor's series approximation. MATLAB simulation results confirmed that the trolley displacement and payload oscillation are dependent on the system parameters; cable length, payload mass and trolley mass. Also, a state feedback controller was proposed using the Lyapunov approach and it proved to stabilize the system dynamics.