Abstract
In this paper, a new gravity terms compensated proportional-derivative controller (GTC-PD) is proposed for underactuated rotary crane systems. In particular, an energy storage function, consisting of kinetic and potential energies of rotary crane systems, is constructed, and on the basis of that, the controller is developed which can achieve accurate rotation positioning and load swing suppression at the same time without any approximation or linearization for the nonlinear dynamics. Furthermore, rigorous stability analysis is proved in theory. Numerical simulations are presented to validate the satisfactory performance of the new nonlinear GTC-PD controller for rotary crane systems.
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