Stabilization of the Overhead Crane System via Saturation Technique

In this paper, a nested-saturation controller is provided to stabilize the overhead crane system. We transform the overhead crane system into an uncertain nonlinear feed-forward system that is subject to a linear perturbation. Moreover, we designedly view some terms as uncertain multiplicative coefficients. Due to the observation that the bounds of uncertain coefficients can be obtained in the bottom-up recursive analysis, we have no need to treat a second-order subsystem in advance, and design a real bounded control law: a fully-saturated controller. Hopefully, the method in this paper may motivate new stabilizing designs for other under-actuated systems.