الفهرس 
Cranes Challenges and ProblemsOnly 14 pages are availabe for public view
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Abstract
The main objective of this work is to design a robust, fast, and practical controller for a nonlinear gantry crane (GC). The controller is designed to transfer the load from point to point as fast as possible and, at the same time, the load swing is kept small during the transfer process and completely vanishes at the load destination.
To accomplish this objective, a hybrid control scheme has been developed for a nonlinear gantry crane with friction to control its position and sway angle.
Chapter one introduced a crane nature, challenges and the literature review for the previous efforts that tackled the crane problems. In chapter two, the GC mathematical nonlinear model with frictions is derived. Taking the model frictions into account makes the study more realistic and more convenient. Chapter three introduced the new hybrid control scheme in details. In the first section, the partial feedback linearization (PFL) for GC is derived and the control law is applied to it. The PFL gains are tuned to get a reasonable response. However, the resultant response suffers from slowness. If the system response is accelerated, it will suffer from overshooting and oscillation, in addition, sway angle response will be adversely affected. Unfortunately, under PFL control, the result is a slow response and oscillating payload; i.e. the tradeoff between fastness and smoothness becomes mandatory. In order to deal with this problem, the deadbeat (DB) controller is designed based on the internal model and applied on GC. The proposed hybrid control scheme is able to drive the crane and the payload to the desired location with fast response.
The use of the DB controller with nonlinear systems is one of the challenges has been faced in this work. Despite the efficiency and speediness of this controller with its simplicity of design and usage, it still a linear controller and cannot be applied directly to nonlinear systems.