In this paper, a non-linear dynamic model is derived for a crane lifter system. The derived model is underactuated since it has two inputs and four degrees of freedom. A non-linear control scheme is then proposed for the system. The objective of the control scheme is to drive the hoist and trolley positions to their desired values and to eliminate the oscillations of the cable and load as quickly as possible. The model and the control scheme are simulated on a digital computer and the results show that the theoretical developments work well.
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