Optimal control of overhead cranes

A. Z. Al-Garni, K. A.F. Moustafa, S. S.A.K. Javeed Nizami

Research output: Contribution to journalArticlepeer-review

96 Citations (Scopus)


A nonlinear dynamic model of an overhead crane which represents simultaneous travel, traverse, and hoisting/lowering motions is considered. Nonlinear feedback forms of control are studied, and numerical results are obtained in such a way that specified boundary conditions and the functional constraints for the states and controls are satisfied while minimizing the sway and final time. The results show that the crane can be transferred to a desired position in the shortest possible time while minimizing the sway of the load not only during transfer but also at final time using the suggested control scheme. Several numerical results of the controls, objectives, and of the states are presented which indicate that the proposed method works well.

Original languageEnglish
Pages (from-to)1277-1284
Number of pages8
JournalControl Engineering Practice
Issue number9
Publication statusPublished - Sept 1995
Externally publishedYes


  • Feedback
  • Nonlinear systems
  • Optimal control
  • Optimization
  • Simulations

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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