Author details

5. Conclusions

330 Adaptive Robust Control Systems

The dynamic model of overhead crane with distributed mass and elasticity of handling cable is formulated using the extended Hamilton's principle. Based on the model, we successfully analyzed and designed two nonlinear robust controllers using two versions of Lyapunov candidate functions. The first can steer the payload to the desired location, while the second can maintain payload fluctuation in a defined span. The proposed controllers well stabilize all

Figure 5. System responses in the case of L = 9 m and m = 9 kg with conventional Lyapunov function approach.

Tung Lam Nguyen\* and Minh Duc Duong

\*Address all correspondence to: lam.nguyentung@hust.edu.vn

Department of Industrial Automation, School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam
