Robust feedback linearizing controller design for an overhead crane system

This paper addresses the problem of robust trajectory tracking controller design for an overhead crane system. Overhead cranes are complex under-actuated mechanical systems with highly nonlinear-coupled dynamics. After describing the dynamical model of five degrees of freedom overhead crane, a control algorithm based on the so-called Partial Feedback Linearization and Sliding Mode Control technique is developed to provide the robust trajectory tracking and the stability of the studied system. Several simulation results are presented to illustrate the performances of the proposed approach.