Nonlinear optimal control for two cable-driven 3-DOF robotic cranes Cover

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Nonlinear optimal control for two cable-driven 3-DOF robotic cranes

Control and Cybernetics

Volume 54 (2025): Issue 2 (June 2025)

By: Gerasimos G. Rigatos, Farouk Zouari, Masoud Abbaszadeh, Mohammed Al-Numay and Pierluigi Siano

Open Access

|Dec 2025

Authors

Gerasimos G. Rigatos

grigat@ieee.org

Unit of Industrial Automation, Industrial Systems Inst, Patras, Greece

Farouk Zouari

farouk.zouari@enit.utm.tn

Laboratoire d’ Automatique, Université de Tunis El Manar, Tunis, Tunisie

Masoud Abbaszadeh

masouda@ualberta.ca

Department of ECS Engineering, Rensselaer Polytechnic Institute, New York, USA

Mohammed Al-Numay

alnumay@ksu.edu.sa

Department of Electrical Engineering, King Saud University, Riyadh, Saudi Arabia

Pierluigi Siano

psiano@unisa.it

Department of Management and Innovative Systems, University of Salerno, Fisciano, Italy

DOI: https://doi.org/10.2478/candc-2025-0006 | Journal eISSN: 2720-4278 | Journal ISSN: 0324-8569

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Language: English

Page range: 157 - 204

Submitted on: Dec 1, 2024

|

Accepted on: Sep 1, 2025

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Published on: Dec 21, 2025

Published by: Systems Research Institute Polish Academy of Sciences

In partnership with: Paradigm Publishing Services

Publication frequency: 4 issues per year

Keywords:

two cable-driven 3-DOF robotic crane,

underactuated crane,

differential flatness properties,

nonlinear H-infinity control,

Taylor series expansion,

Jacobian matrices,

Riccati equation,

global stability

Related subjects:

Computer sciences,

Computer sciences, other,

Electrical engineering,

Fundamentals of electrical engineering,

Mechanical engineering,

Fundamentals of mechanical engineering,

General mathematics

© 2025 Gerasimos G. Rigatos, Farouk Zouari, Masoud Abbaszadeh, Mohammed Al-Numay, Pierluigi Siano, published by Systems Research Institute Polish Academy of Sciences
This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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