TRACKING CONTROL FOR TWO-DIMENSIONAL OVERHEAD CRANE Feedback Linearization with Linear Observer

A possible way to control non-linear systems is the use of exact linearization and the application of a tracking controller to ensure exponential decay of the error along the reference trajectory. In case of overhead cranes, it can be used if the load coordinates (or alternatively the rope angles) are known which is not the case in real applications, where the motor axis displacements are usually measured. This paper applies the linearization techniques such that the calculations of unmeasured states are realized with an observer, which is constructed for the linear approximation of the dynamics along the reference trajectory. Simulation results are provided to prove the applicability of the concept.