Operator-based robust nonlinear control for a crane system with constraint inputs

In this paper, operator-based robust nonlinear control design is proposed for a crane experimental system with constraint inputs. The swing cable of the crane system is driven by a linear motor, where the driven force input of the linear motor is with limitations. The angle of the swing cable is estimated by using SVM-based model such that there exist some uncertainties between estimated value and real value. As a result, operator-based robust nonlinear control design is given for the crane system. Further, simulation result supports the proposal.