Vol. 7, Issue 2, Part B (2025)

Position and swing angle control of gantry crane systems (GCS) provides high work efficiency such as loading, unloading and carrying of loads in factories, harbors and power plants, etc. In this paper, we propose a new control method for the position and anti- swing of gantry crane. First, the control problem is solved by designing a position controller and combining a compensator for the swing angle with the position control system. On the other hand, the design of the control system is simplified as the position controller is designed by the PI controller. Also, it is possible to simultaneously achieve both the position tracking for rapid carrying and the anti-swing control to reduce the swing angle of the load. We simulate the proposed algorithm in several cases using MATLAB. The simulation results show that the proposed method can significantly reduce the oscillation of the swing angle without allowing the oscillation of the position control response.