Reference trajectory tracking of overhead cranes

Research output: Contribution to journalArticlepeer-review

32 Citations (Scopus)


This paper addresses the automation problem of overhead cranes. A feedback control strategy is proposed so that the crane travel and hoisting or lowering motions are forced to track a given reference trajectory while killing the payload swing angle. Stability analysis is carried out using Lyapunov functions and it is shown that the equilibrium point of the crane system is asymptotically stable.

Original languageEnglish
Pages (from-to)139-141
Number of pages3
JournalJournal of Dynamic Systems, Measurement and Control, Transactions of the ASME
Issue number1
Publication statusPublished - Mar 2001
Externally publishedYes

ASJC Scopus subject areas

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


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