Paper Info
Title
A new discrete-time approach to anti-swing tracking control of overhead cranes
Abstract
Motivated by the idea of independent joint control strategy in robot manipulator control field, a new anti-swing tracking control in discrete-time form is presented in this paper. The proposed control system is designed based on a new model where the crane actuators are considered as the main plant. The crane nonlinearities are then considered as disturbances acting on each actuator. The proposed disturbance observer will be able to estimate disturbances and then compensate them via feedforward control. Moreover, robust load swing suppression is achieved through modifying the reference traveling acceleration. The stability analysis of the proposed control system is provided along with experimental results to indicate high performance of the proposed control system against uncertainties such as changes in crane load mass.
Year
DOI
Venue
2014
10.1109/CCA.2014.6981437
Control Applications
Keywords
DocType
ISSN
actuators,cranes,discrete time systems,feedforward,manipulators,observers,stability,antiswing tracking control,crane actuators,crane load mass,crane nonlinearities,discrete-time approach,disturbance estimation,disturbance observer,feedforward control,independent joint control strategy,overhead cranes,reference traveling acceleration,robot manipulator control field,robust load swing suppression,stability analysis
Conference
1085-1992
Citations 
PageRank 
References 
5
0.80
12
Authors
2
Name
Order
Citations
PageRank
Khatamianfar, A.1133.29
Andrey V. Savkin28518.09