Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations
نویسندگان
چکیده
منابع مشابه
On the Adaptive Tracking Control of 3-D Overhead Crane Systems
For low cost, easy assembly and less maintenance, overhead crane systems have been widely used for material transportation in many industrial applications. Due to the requirements of high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and stabilization control for an overhead crane system becomes an interesting issue in the field of control tech...
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In this paper, the tracking control problem is considered for the payload transportation with an underactuated twodimensional overhead crane. Two sliding mode controllers are designed to perform the trajectory tracking. One is proposed to control hoisting and lowering the suspended payload, and the other one is proposed to control both trolley positioning and payload swaying. Considering the se...
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This paper addresses the asymptotic output tracking problem for the model of an overhead crane. It is shown that the model is linearizable by dynamic state feedback when the full state is available for measurement. In the more realistic situation when the angle that the rope forms with respect to the vertical axis cannot be measured, two different nonlinear observers are used in order to estima...
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In this paper, a nonlinear anti-sway control law for overhead cranes is investigated. The crane model itself is adopted from the literature; however, a new nonlinear decoupling control law that provides superior position-regulation and swaysuppression characteristics is proposed in this paper. The derived control law uses the sway angular rate as well as the sway angle as feedback. The performa...
متن کاملAdaptive Tracking Control for an Overhead Crane System
This paper proposes an adaptive control method for an underactuated overhead crane system. To improve the transferring efficiency and enhance the security of the crane system, the trolley is required to reach the desired position as fast as possible, while the swing of payload needs to be within an acceptable domain. To achieve these objectives, a novel twostep design strategy consisting of a t...
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ژورنال
عنوان ژورنال: Journal of Mechatronics, Electrical Power, and Vehicular Technology
سال: 2016
ISSN: 2087-3379,2088-6985
DOI: 10.14203/j.mev.2016.v7.27-34