Nonlinear Control of 3-D Overhead Cranes: Energy-based Decoupling
| Authors: | Chwa Dongkyoung, Ajou University, Korea, Republic of
Hong Keum-Shik, Pusan National University, Korea, Republic of |
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| Topic: | 4.2 Mechatronic Systems |
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| Session: | Mechatronic Applications |
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| Keywords: | nonlinear control, modelling, decoupling, regulation, Lyapunov function, crane control |
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Abstract
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 sway-suppression characteristics is proposed in this paper. The derived control law uses the sway angular rate as well as the sway angle as feedback. The performance of the proposed control law is compared with those of the PD and control laws in the literature. The transient characteristics of the proposed control law are also verified using a 3-D pilot crane. Simulation and experimental results are discussed.
