Paper Title
Position Control And Anti-Swing Control Of Overhead Crane Using Optimal Control

A crane is a machine equipped with a hoist, wire ropes or chains which is mainly used both to lift and lower materials and move them horizontally to different places. However the underactuated structure of the crane makes difficult to control. The most important control requirement is to make the trolley position converge to desired position accurately with less payload swing which otherwise hinders the precise positioning of the load. In the practical situations, however, the achievement of both transporting trolley to target position and reducing payload sway is not always easy. The main objective is to employ a linear quadratic regulator for controlling the trolley position and swing motion which give better performance than simple PD and PID control. Moreover, the proposed method is then provided with disturbances and then compensated with linear quadratic Gaussian controller. Index Terms- Linear Quadratic Regulator (LQR), Linear Quadratic Gaussian (LQG), Overhead crane, Performance Index.