Vibration reduction and finite time payload tracking performance control for gantry cranes with inputs saturation and constrained outputs

Abstract This study proposes an anti-vibration and load trajectory tracking controller for gantry cranes over a finite period of time with limited inputs and outputs, while minimizing the effects of system uncertainties and disturbances. Firstly, the reference trajectory of the load is formulated by considering the crane system as a flatness system with constraints on the swing angle. Subsequently, a Terminal Sliding-Mode Controller (TSMC) and an Adaptive Finite-Time Extended State Observer (AFT-ESO) are developed to enhance the system's performance. In practice, the input signals and state variables of the system are always limited, in order to handle these constraints the Lyapunov-based Model Predictive Control (LMPC) is proposed. Finally, simulation results and comparative studies with the conventional methods are given to prove the effectiveness and feasibility of the control strategy.