A simple output feedback PD controller for nonlinear cranes

Kiss, Bálint; Lévine, Jean; Müllhaupt, Ph.

doi:10.1109/cdc.2001.914758

Cited by 39 publications

(22 citation statements)

References 7 publications

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“…In contrast to the early works in [4][5][6]9,13,14,16,17,19,26,29], the work using a PDE model has lately been found in [1]. In their work, a hybrid PDE-ODE model, under the assumption that the rope length is constant, was developed, providing the asymptotic stability of the closed-loop system and only numerical simulation results.…”

Section: Introductionmentioning

confidence: 97%

Boundary control of container cranes from the perspective of controlling an axially moving string system

Kim

Hong

2009

Int. J. Control Autom. Syst.

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The control objectives in this paper are to move the load of a container crane to its target position and to suppress the transverse vibration of the load. Owing to the fact that the load is hoisted up and down, the crane is modeled as an axially moving string system. The dynamics of the moving string are derived using Hamilton's principle for systems with changing mass. The Lyapunov function method is used in deriving a boundary control law, where the Lyapunov function candidate takes the form of the total mechanical energy of the system. The boundary control law utilizes the hoisting speed as well as the sway angle of the rope at the gantry side. Through experiment, the effectiveness of the proposed control law is demonstrated particularly in the lift-up process of the load.

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Section: Introductionmentioning

confidence: 97%

Boundary control of container cranes from the perspective of controlling an axially moving string system

Kim

Hong

2009

Int. J. Control Autom. Syst.

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“…Several types of closed loop control techniques have been implemented to crane systems for motion and swing control. Proportional Integral Derivative (PID) control has been successfully applied to the control of crane systems as well as in many industrial applications [11,12]. However, there have some difficulties in tuning the PID parameters.…”

Section: Introductionmentioning

confidence: 99%

Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

Önen

2017

ijecs

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“…Using similar stability-analysis techniques, Collado et al [4] proposed a proportional-derivative (PD) controller for an overhead crane problem with a 1-DOF gantry. In [15], Kiss et al developed a PD controller for a vertical crane-winch system that only requires the measurement of the winch angle and its derivative rather than a cable angle measurement. In [12] and [21], passivity based interconnection and damping assignment control techniques are used to stabilize underactuated mechanical systems.…”

Section: Introductionmentioning

confidence: 99%

Nonlinear coupling control laws for an underactuated overhead crane system

Fang

Dixon

Dawson

et al. 2003

IEEE/ASME Trans. Mechatron.

287

169

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, "Current sensor-based feed cutting force intelligent estimation and tool wear condition monitoring," IEEE Trans. Ind. Electron., vol. 47, pp. 697-702, July 2000. [9] X. Li, "On-line detection of the breakage of small diameter drills using current signature wavelet transform," Int. J. Mach. Tools, Manuf., vol. 39, no. 1, pp. 157-164, 1999 Abstract-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-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then present two nonlinear controllers that increase the coupling between the planar gantry position and the payload angle. Experimental results are provided to illustrate the improved performance of the nonlinear controllers over the simple PD controller.

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A simple output feedback PD controller for nonlinear cranes

Cited by 39 publications

References 7 publications

Boundary control of container cranes from the perspective of controlling an axially moving string system

Boundary control of container cranes from the perspective of controlling an axially moving string system

Anti-Swing Control of an Overhead Crane by Using Genetic Algorithm Based LQR

Nonlinear coupling control laws for an underactuated overhead crane system

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