Nonlinear Dynamics

, Volume 77, Issue 3, pp 655–666 | Cite as

Partially saturated nonlinear control for gantry cranes with hardware experiments

  • Ning Sun
  • Yongchun Fang
Original Paper


Gantry cranes are typically underactuated nonlinear dynamic systems with highly coupled system states. We propose in this paper a partially saturated nonlinear controller for gantry crane systems by converting the crane model into an objective (i.e., desired closed-loop) system. The presented scheme guarantees “soft” cart start by introducing a smooth saturated function into the controller. In particular, we first establish an objective system with desired signal convergence and stability performance. Then, on the basis of the objective dynamics’ structure, we derive a partially saturated control law straightforwardly by solving one partial differential equation, without necessity of performing partial feedback linearization operations to the original crane model. The convergence and stability performance of the objective system is assured with Lyapunov-based methods. In order to verify the practical control performance of the proposed method, we implement both numerical simulation and hardware experiments to illustrate that the new method achieves increased performance with respect to existing methods, with lessened control efforts.


Nonlinear control Gantry cranes Objective system  Partially saturated 



The authors would like to express their sincere thanks to the reviewers and the editor for the valuable suggestions that have greatly improved the quality of the paper. They also greatly acknowledge the financial supports from the National Science and Technology Pillar Program of China (Grant No. 2013BAF07B03), the National Science Fund for Distinguished Young Scholars of China (Grant No. 61325017), the National Natural Science Foundation of China (Grant No. 11372144), and the Academic Award for Doctoral Students from the Ministry of Education of China (Grant No. (190)H0511009).


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Copyright information

© Springer Science+Business Media Dordrecht 2014

Authors and Affiliations

  1. 1.Institute of Robotics and Automatic Information SystemNankai UniversityTianjinChina

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