Flatness-Based Motion Planning and Control Strategy for Payload Positioning of an Overhead Crane

Abstract This research paper investigates the application of a new advanced control strategy to a three-dimensional overhead crane (3DOC). Firstly, a time-optimal motion planning algorithm is developed based on differential flatness theory, which considers dynamic and control objective constraints. In addition, to improve robustness and disturbance effects, a Fixed-Time Extended State Observer (FxTESO) and a Terminal Sliding Mode Control (TSMC) are introduced. The FxESO provides accurate estimations of states and total disturbances in a fixed time, thereby enhancing the overall performance of the proposed method. Furthermore, the TSMC takes the estimations to ensure the tracking performance of the 3DOC and guarantees that control errors converge to zero in a fixed time. The proposed methodologies are verified through simulation studies and practical experiments in a physical 3DOC lab size. Finally, the comparison with the existing control strategy highlights the proposed methods' effectiveness in trajectory optimization, disturbance rejection, and overall system performance.