In this chapter an adaptive anti-sway controller for uncertain overhead cranes is proposed. The system model including the system uncertainties and disturbances is introduced firstly. Next, the adaptive controller which can guarantee tracking the desired position of the trolley as well as the anti-sway of the load cable is established. In this chapter, the system is proven to be input-to-state stable (ISS) which is supported by Lyapunov technique. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results shown that the presented controller gives the good performances (i.e., fast transient response, position tracking, and low swing angle) when there exist system parameters variation as well as input disturbances.
Multimotor drive systems have been widely used in many modern industries. It is a nonlinear, multi-input, multi-output (MIMO) and strong-coupling complicated system, including the effect of friction, elastic, and backlash. The control law for this drive system much depends on the determining of the tension. However, it is hard to obtain this tension in practice by using a load cell or a pressure meter due to the accuracy of sensors or external disturbance. In order to solve this problem, a high-gain observer is proposed to estimate the state variables in this drive system, such as speeds and tension. An emerging proposed technique in the control law is the use of high-gain observers together with adaptive sliding mode control scheme to obtain a separation principle for the stabilization of whole system. The theory analysis and simulation results point out the good effectiveness of the proposed output feedback for the drive system.
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