Real-Time Robust and Optimized Control of a 3D Overhead Crane System

Real-Time Robust and Optimized Control of a 3D Overhead Crane System

A new and advanced control system for three-dimensional (3D) overhead cranes is proposed in this study using state feedback control in discrete time to deliver high performance trajectory tracking with minimum load swings in high-speed motions. By adopting the independent joint control strategy, a n...

Full description

Bibliographic Details
Main Authors: Arash Khatamianfar, Andrey V. Savkin
Format: Article
Language:English
Published: MDPI AG 2019-08-01
Series:Sensors
Subjects:
robot control
robotic systems modeling
high-gain observers for robotic systems
position sensors
computed torque control
feedforward control
motion planning
3D overhead crane
passivity and ℒ<sub>2</sub> stability
trajectory tacking
Online Access:https://www.mdpi.com/1424-8220/19/15/3429

Internet

https://www.mdpi.com/1424-8220/19/15/3429

Similar Items