Modelling and non-linear discontinuous feedback control of crane lifter systems

Mansour Karkoub, M. Zribi

Research output: Contribution to journalArticle

4 Citations (Scopus)


In this paper, a non-linear dynamic model is derived for a crane lifter system. The derived model is underactuated since it has two inputs and four degrees of freedom. A non-linear control scheme is then proposed for the system. The objective of the control scheme is to drive the hoist and trolley positions to their desired values and to eliminate the oscillations of the cable and load as quickly as possible. The model and the control scheme are simulated on a digital computer and the results snow that the theoretical developments work well.

Original languageEnglish
Pages (from-to)157-167
Number of pages11
JournalProceedings of the Institution of Mechanical Engineers. Part I: Journal of Systems and Control Engineering
Issue number2
Publication statusPublished - 2002
Externally publishedYes



  • Crane lifter
  • Partial feedback linearization
  • Underactuated non-linear control

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Mechanical Engineering

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