{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,4,24]],"date-time":"2026-04-24T02:10:58Z","timestamp":1776996658384,"version":"3.51.4"},"reference-count":30,"publisher":"MDPI AG","issue":"8","license":[{"start":{"date-parts":[[2019,8,2]],"date-time":"2019-08-02T00:00:00Z","timestamp":1564704000000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Symmetry"],"abstract":"<jats:p>The movement of the gantry crane is controlled by an symmetry underactuated system, and has poor robustness in precise positioning. A new active control method based on the machine vision positioning is proposed in this paper, and the trajectories are planned after the detection of starting and ending points. A new type of energy storage function is given in this paper, and a coupling control law is derived to minimize the load swing in the process of precise positioning. The equilibrium point of the closed-loop system is checked though Lyapunov and LaSalle\u2019s theorems, and the calculation results are verified through experimental investigations. The results show that the equilibrium points are asymptotically stable, and the proposed control method is of better robustness. The findings provide a new kind of control method with higher efficiency, and can help with the precise control of gantry cranes.<\/jats:p>","DOI":"10.3390\/sym11080987","type":"journal-article","created":{"date-parts":[[2019,8,2]],"date-time":"2019-08-02T11:58:16Z","timestamp":1564747096000},"page":"987","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":13,"title":["Research on Nonlinear Control Method of Underactuated Gantry Crane Based on Machine Vision Positioning"],"prefix":"10.3390","volume":"11","author":[{"given":"Huaitao","family":"Shi","sequence":"first","affiliation":[{"name":"College of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China"}]},{"given":"Gang","family":"Li","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China"}]},{"given":"Xiaotian","family":"Bai","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China"}]},{"given":"Jianqi","family":"Huang","sequence":"additional","affiliation":[{"name":"College of Mechanical Engineering, Shenyang Jianzhu University, Shenyang 110168, China"}]}],"member":"1968","published-online":{"date-parts":[[2019,8,2]]},"reference":[{"key":"ref_1","first-page":"241","article-title":"A Motion Planning-Based Adaptive Control Method for an Underactuated Crane System","volume":"20","author":"Fang","year":"2012","journal-title":"IEEE Trans. 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