Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations
In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavi...
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doaj-d12e192096e24b4aa91404669d37aa822020-11-25T03:52:01ZengIndonesian Institute of SciencesJournal of Mechatronics, Electrical Power, and Vehicular Technology2087-33792088-69852016-07-01712734http://dx.doi.org/10.14203/j.mev.2016.v7.27-34Nonlinear tracking control of a 3-D overhead crane with friction and payload compensationsAnh-Huy Vo0Quoc-Toan Truong1Ha-Quang-Thinh Ngo2Quoc-Chi Nguyen3Department of Mechatronics, Ho Chi Minh City University of Technology Viet Nam Department of Mechatronics, Ho Chi Minh City University of Technology Viet NamDepartment of Mechatronics, Ho Chi Minh City University of Technology; and Control and Automation Laboratory, Ho Chi Minh City University of Technology Viet Nam Department of Mechatronics, Ho Chi Minh City University of Technology; and Control and Automation Laboratory, Ho Chi Minh City University of Technology Viet Nam In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values were used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results.http://mevjournal.com/index.php/mev/article/view/2903-D overhead cranenonlinear adaptive controlLyapunov methodEuler-Lagrange equationsway control |
collection |
DOAJ |
language |
English |
format |
Article |
sources |
DOAJ |
author |
Anh-Huy Vo Quoc-Toan Truong Ha-Quang-Thinh Ngo Quoc-Chi Nguyen |
spellingShingle |
Anh-Huy Vo Quoc-Toan Truong Ha-Quang-Thinh Ngo Quoc-Chi Nguyen Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations Journal of Mechatronics, Electrical Power, and Vehicular Technology 3-D overhead crane nonlinear adaptive control Lyapunov method Euler-Lagrange equation sway control |
author_facet |
Anh-Huy Vo Quoc-Toan Truong Ha-Quang-Thinh Ngo Quoc-Chi Nguyen |
author_sort |
Anh-Huy Vo |
title |
Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations |
title_short |
Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations |
title_full |
Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations |
title_fullStr |
Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations |
title_full_unstemmed |
Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations |
title_sort |
nonlinear tracking control of a 3-d overhead crane with friction and payload compensations |
publisher |
Indonesian Institute of Sciences |
series |
Journal of Mechatronics, Electrical Power, and Vehicular Technology |
issn |
2087-3379 2088-6985 |
publishDate |
2016-07-01 |
description |
In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values were used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results. |
topic |
3-D overhead crane nonlinear adaptive control Lyapunov method Euler-Lagrange equation sway control |
url |
http://mevjournal.com/index.php/mev/article/view/290 |
work_keys_str_mv |
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