D ynamical Modeling and Control of Motion System of the Gantry Crane to Minimize Swing Angle of the Payload

Conclusion and Future work

In this paper, a linear dynamical model of the gantry crane system was derived in two methods, Newton's Mechanics and Lagrange's Mechanics. It turns out that this modeling is very important and must be accurate and correct as the systems control operations depend on it. It has been found that the deducing of the model by means of computational dynamics, which depends on scalar values, is easier and less in the steps of the solution and gives us a sense of the variables, unlike the deducing that depends on the vector variables. The model was controlled by a linear quadratic regulator. Simulation results proved the accuracy of the model and the excellent performance of the controller in regulating the swing angle smoothly and fast.

In the future, we are going to study the effect of varying the model parameters (the mass of the cart, the mass of the load, and the cord length) on the system behavior. In the current work, we are assuming that the system states are measured. In the future we are going to design an observer to estimate them