# Design of the state feedback-based feed-forward controller asymptotically stabilizing the overhead crane at the desired end position

## TL;DR

This paper presents a novel linear state feedback-based feed-forward controller for overhead cranes, stabilizing the payload at a desired position by integrating control theory and dynamical systems principles, validated through simulations.

## Contribution

It introduces a new control design combining Kalman's controllability and Hartman-Grobman theorem for crane stabilization.

## Key findings

- Controller successfully stabilizes crane at target position.
- Simulation results show improved performance with time-varying hoisting rope length.
- Proposed method outperforms existing control strategies.

## Abstract

The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward controller that stabilizes the crane system at the desired end position of payload is designed. The efficacy of proposed controller is demonstrated by comparing the simulation experiment results for overhead crane with/without time-varying length of hoisting rope.