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The design approach rests upon a two-step procedure: first, a constraintfree motion controller is determined that satisfies the required dynamic specifications; second, this controller is replaced with an equivalent controller satisfying the discrete action constraint. The first step is implemented by means of a heuristic 3-D extension of a well-proven 2-D controller, the second step by applying recent sliding mode results. Numerical simulations illustrate the properties of the resulting feedback system under both nominal and perturbed operating conditions.<\/jats:p>","DOI":"10.1017\/s0263574700018002","type":"journal-article","created":{"date-parts":[[2009,3,10]],"date-time":"2009-03-10T13:13:24Z","timestamp":1236690804000},"page":"449-454","source":"Crossref","is-referenced-by-count":5,"title":["Bang bang motion control of a Cartesian crane"],"prefix":"10.1017","volume":"12","author":[{"given":"R. M.","family":"DeSantis","sequence":"first","affiliation":[]},{"given":"S.","family":"Krau","sequence":"additional","affiliation":[]}],"member":"56","published-online":{"date-parts":[[2009,3,9]]},"reference":[{"key":"S0263574700018002_ref015","first-page":"400","article-title":"The Implementation of a Continuous Controller Via a Discrete Valued Controller","volume":"115","author":"DeSantis","year":"1992","journal-title":"J. Dynamic Systems Measurement and Control"},{"key":"S0263574700018002_ref013","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(84)90007-4"},{"key":"S0263574700018002_ref017","unstructured":"17. Krau S. , \u201cDiscrete Implementation of the Continuous Control of an Overhead Crane in 3-D Space\u201d M.Sc.A. 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American Control Conference, San Francisco, California (1993) pp. 2562\u20132565."},{"key":"S0263574700018002_ref002","doi-asserted-by":"publisher","DOI":"10.1016\/0005-1098(82)90086-3"},{"key":"S0263574700018002_ref001","first-page":"17","article-title":"Anti-Swing Control of the Overhead Crane Using Linear FeedBack","volume":"9","author":"Ridout","year":"1989","journal-title":"J. IEEE-Australia"},{"key":"S0263574700018002_ref014","volume-title":"Reglage Par Mode de Glissement","author":"Buhler","year":"1986"},{"key":"S0263574700018002_ref006","first-page":"237","article-title":"Adaptive Control of Cranes","volume":"8","author":"Soussi","year":"1993","journal-title":"Proc. 12th IF AC World Congress"},{"key":"S0263574700018002_ref004","unstructured":"4. Hurteau R. & DeSantis R.M. , \u201cMicroprocessor Based Adaptive Control of a Crane System\u201d 22nd IEEE DCC Conference, San Antonio, Texas (1983) pp. 944\u2013948."},{"key":"S0263574700018002_ref003","doi-asserted-by":"crossref","first-page":"266","DOI":"10.1115\/1.3152680","article-title":"Nonlinear Modeling and Control of an Overhead Crane Load Sway","volume":"110","author":"Kamal","year":"1988","journal-title":"J. Dynamic Systems Measurement and Control"},{"key":"S0263574700018002_ref008","volume-title":"Applied Nonlinear Control","author":"Slotine","year":"1991"},{"key":"S0263574700018002_ref011","doi-asserted-by":"publisher","DOI":"10.1109\/5.4400"},{"key":"S0263574700018002_ref016","unstructured":"16. DeSantis R.M. , \u201cOn the Sliding Mode Control of an Overhead Crane\u201d Proc. CCECE Conference (1990) pp. 26.3.1\u201326.3.5."}],"container-title":["Robotica"],"original-title":[],"language":"en","link":[{"URL":"https:\/\/www.cambridge.org\/core\/services\/aop-cambridge-core\/content\/view\/S0263574700018002","content-type":"unspecified","content-version":"vor","intended-application":"similarity-checking"}],"deposited":{"date-parts":[[2019,5,15]],"date-time":"2019-05-15T02:53:19Z","timestamp":1557888799000},"score":1,"resource":{"primary":{"URL":"https:\/\/www.cambridge.org\/core\/product\/identifier\/S0263574700018002\/type\/journal_article"}},"subtitle":[],"short-title":[],"issued":{"date-parts":[[1994,9]]},"references-count":17,"journal-issue":{"issue":"5","published-print":{"date-parts":[[1994,9]]}},"alternative-id":["S0263574700018002"],"URL":"https:\/\/doi.org\/10.1017\/s0263574700018002","relation":{},"ISSN":["0263-5747","1469-8668"],"issn-type":[{"value":"0263-5747","type":"print"},{"value":"1469-8668","type":"electronic"}],"subject":[],"published":{"date-parts":[[1994,9]]}}}