Robust Adaptive Fuzzy Technique in Tower Crane Anti-Swing Control

• Main Authors: Kuan-Wei Wu, 吳冠緯
• Other Authors: Ming-Guo Her
• Format: Others
• Language: en_US
• Published: 2014
• Online Access: http://ndltd.ncl.edu.tw/handle/787pjk

碩士 === 大同大學 === 機械工程學系(所) === 102 === The 3-D tower crane is an underactuated mechanical system and it has been the research focus of dynamic modeling. An effective way to control the tower crane is proposed in this study for controlling the motion of the system. This include precise displacement and rotation of trolley motion and limited the payload swing due to perturbations. The proposed adaptive fuzzy technique applies a variable structure control (VSC) scheme in resolving the uncertainties upon operation of the tower crane. As a result, the payload swing can be limited to a randomly specified level and achieving the $H_\infty$ tracking performance. The proposed control algorithm eliminates losses due to drag, friction and uncertainty in system parameters. By applying a Lyapunov criterion and the Riccati inequality, the proposed algorithm guarantees all system states are uniformly ultimately bounded (UUB). Experiments were conducted to verify the accuracy of the proposed model. The proposed algorithm is shown to accurately predicted the motion of a tower crane under operation.