Adaptive control for an underactuated overhead crane system

被引：0

作者：

Ma, Bo-Jun ^{[1
]}

Fang, Yong-Chun ^{[1
]}

Wang, Yu-Tao ^{[1
]}

Jiang, Zhong-Ping ^{[2
]}

机构：

[1] Institute of Robotics and Automatic Information Systems, Nankai University, Tianjin 300071, China

[2] Department of Electrical and Computer Engineering, Polytechnic University, New York 11201, United States

来源：

Kongzhi Lilun Yu Yingyong/Control Theory and Applications | 2008年 / 25卷 / 06期

关键词：

Gantry cranes - Closed loop systems - Adaptive control systems - Bridge cranes;

D O I：

暂无

中图分类号：

学科分类号：

摘要：

A dissipativity-based adaptive controller is designed for an underactuated overhead crane system. This controller controls the crane system to transport the payload to a desired location with little swing. Being different from conventional crane control laws, the proposed controller does not measure the system parameters such as the mass of trolley and payload, and the length of the rope; instead, the control algorithm estimates those parameters online according to the system responses. The stability of the closed-loop system is proven by Lyapunov techniques and LaSalle's Invariance Theorem. Simulation results demonstrate that the designed adaptive controller achieves a superior performance for the overhead crane system.

引用

页码：1105 / 1109

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