Nonlinear modeling and control of overhead crane load sway

Kamal A.F. Moustafa, A. M. Ebeid

Research output: Contribution to journalArticlepeer-review

179 Citations (Scopus)


In this paper, we derive a nonlinear dynamical model for an overhead crane. The model takes into account simultaneous travel and transverse motions of the crane. The aim is to transport an object along a specified transport route in such a way that the swing angles are suppressed as quickly as possible. We develop an antiswing control system which adopts a feedback control to specify the crane speed at every moment. The gain matrix is chosen such that a desired rate of decay of the swing angles is obtained. The model and control scheme are simulated on a digital computer and the results prove that the feedback control works well.

Original languageEnglish
Pages (from-to)266-272
Number of pages7
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number3
Publication statusPublished - Sept 1988
Externally publishedYes

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Information Systems
  • Instrumentation
  • Mechanical Engineering
  • Computer Science Applications


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