Nonlinear control of an overhead crane via the saturating control approach of Teel

T. Burg, D. Dawson, Christopher D. Rahn, W. Rhodes

Research output: Contribution to journalConference articlepeer-review

44 Scopus citations


This paper presents a new control strategy for the horizontal position control of a two degree-of-freedom overhead crane. The approach transforms the underactuated crane dynamics into a form similar to the well known ball-and-beam dynamics. A controller is then developed based on the work of Teel for the transformed dynamics using a saturation control design technique. The control approach is based on a crane model which includes the typically neglected, higher-order nonlinearities. The resulting controller provides for asymptotic positioning of the crane payload from a large set of initial conditions. Experimental trials demonstrate the performance of the proposed controller while a computer simulation is used to suggest the benefit of the proposed saturation controller over a standard linear controller.

Original languageEnglish (US)
Pages (from-to)3155-3160
Number of pages6
JournalProceedings - IEEE International Conference on Robotics and Automation
StatePublished - Jan 1 1996

All Science Journal Classification (ASJC) codes

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering


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