Backstepping Control Strategy for Overhead Crane System

Abstract

Swinging on the shifted load by overhead crane is one of the mainproblems that all researchers suffer from. In addition, the crane system isa nonlinear and under-actuated system. Furthermore it is multivariableproblem and it has coupling between its parameters ( . In this work, adeveloped type of anti-sway Backstepping controller is proposed to solveswinging on the shifted load for full non-linear overhead crane system.Simulation results were validated against the related articles previouslypublished which used Fuzzy Logic control. The enhancement is measuredfor Backstepping control as a swinging to achieve 50.7%, 38.1% and42.5% when it is compared with Fuzzy Logic control. The performance ofthe overhead crane is enhanced from 70.4% to 51% at the control actionconsumptions