Composite Nonlinear Feedback Control for an Underactuated Gantry System
نویسندگان
چکیده
This paper investigates the design of composite nonlinear feedback (CNF) control law for an underactuated gantry crane system to achieve positioning and anti-swing control. First, the dynamic model of a nonlinear underactuated gantry crane system is established by using the Euler-Lagrange modeling method. Then, the CNF control law is designed for the system to improve the anti-swing performance. The CNF control law is fine tuned with an optimal nonlinear gain tuning method. The numerical simulation shows that the CNF control law yields excellent performance for both achieving positioning and anti-swing in the gantry crane system.
منابع مشابه
Time-Invariant State Feedback Control Laws for a Special Form of Underactuated Nonlinear Systems Using Linear State Bisection
Linear state bisection is introduced as a new method to find time-invariant state feedback control laws for a special form of underactuated nonlinear systems. The specialty of the systems considered is that every unactuated state should be coupled with at least two directly actuated states. The basic idea is based on bisecting actuated states and using linear combinations with adjustable parame...
متن کاملBoundary Feedback Stabilization of a Nonlinear Flexible Gantry Manipulator Using Disturbance Observer
This paper aims to develop a boundary control solution for a single-link gantry robot manipulator with one axis of rotation. The control procedure is considered with link’s transverse vibrations while system undergoes rigid body nonlinear large rotation and translation. Initially, based on Hamilton principle, governing equations of hybrid motions as a set of partial differential equations...
متن کاملNonlinear 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 کاملH∞-Optimal Tracking Control Techniques for Nonlinear Underactuated Systems
This paper presents new techniques for controlling the motion of an underactuated vehicle when disturbances are present and only imperfect state measurements are available for feedback. A state feedback controller is developed and then it is converted to an imperfect state measurement feedback controller. The state feedback tracking control law uses an H∞-optimal design and produces a locally e...
متن کاملModeling and Nonlinear Control of Gantry Crane Using Feedback Linearization Method
gantry crane system becomes an interesting issue in the field of control technology development. In this paper, dynamic model of gantry crane is extracted using Lagrange method. This model has been linearized and weaknesses of state feedback control of this model is reviewed. To solve these problems, state feedback gain matrix is calculated using LQR method and results are fully investigated. F...
متن کامل