Overhead cranes are widely used in industry for transportation of heavy loads and are common industrial structures used in building construction, factories, and harbors, traditionally operated by experienced crane operators. The underlyng system consists of three main components: trolley, bridge, and gantry. Basically, the system is a trolley with pendulum. In normal operation, the natural sway of crane payloads is detrimental to the safe and efficient action. Other external disturbances parameters, wind for example, also affect the controller performance. Basically, a crane system is an underactuated system. This makes the design of its controllers complicated. Usually, this is done via the crane acceleration required for motion. The most important issues in crane motion are high positioning accuracy, short transportation time, small sway angle, and high safety. The main goal of this th...

Overhead cranes are widely used in industry for transportation of heavy loads and are common industrial structures used in building construction, factories, and harbors, traditionally operated by experienced crane operators. The underlyng system consists of three main components: trolley, bridge, and gantry. Basically, the system is a trolley with pendulum. In normal operation, the natural sway of crane payloads is detrimental to the safe and efficient action. Other external disturbances parameters, wind for example, also affect the controller performance. Basically, a crane system is an underactuated system. This makes the design of its controllers complicated. Usually, this is done via the crane acceleration required for motion. The most important issues in crane motion are high positioning accuracy, short transportation time, small sway angle, and high safety. The main goal of this th...