Tracking Control for the Underactuated Overhead Crane System Based on Dynamic Equilibrium State Theory

نویسندگان
چکیده

برای دانلود باید عضویت طلایی داشته باشید

برای دانلود متن کامل این مقاله و بیش از 32 میلیون مقاله دیگر ابتدا ثبت نام کنید

اگر عضو سایت هستید لطفا وارد حساب کاربری خود شوید

منابع مشابه

Tracking Control for an Underactuated Two-Dimensional Overhead Crane

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...

متن کامل

Adaptive Fuzzy Control for Path Tracking of Underactuated Ships Based on Dynamic Equilibrium State Theory

This paper presents an adaptive fuzzy backstepping control method that incorporates the dynamic equilibrium state (DES) theory to carry out path tracking for underactuated ships in presence of parameter variations and external disturbances induced by wind, wave and current. First, the optimal DES reference trajectories are designed for the sway displacement and the yaw angle. Then, by combining...

متن کامل

Nonlinear Coupling Control Laws for an Underactuated Overhead Crane System

In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivitybased controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle’s invariant set theorem, we first illustrate how a simple proportional–derivativ...

متن کامل

Adaptive 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...

متن کامل

Geometric-PBC based Control of 4-DOF Underactuated Overhead Crane System

The control of 4-DOF underactuated overhead crane system poses a challenging control problem as it has extra degree of freedom (DOF) compared to its popular 3DOF variant. The extra DOF represents strong state coupling and hence more complicated system dynamics. We propose Geometric Passivity Based Control (PBC) methodology for synthesis of nonlinear stabilising feedback control law. The structu...

متن کامل

ذخیره در منابع من


  با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید

ژورنال

عنوان ژورنال: Information Technology Journal

سال: 2011

ISSN: 1812-5638

DOI: 10.3923/itj.2011.2399.2405