Design of a nonlinear controller for gantry crane payload

被引：0

作者：

Gao Bing-tuan ^{[1
]}

Chen Hong-jun ^{[1
]}

Zhang Xiao-hua ^{[1
]}

机构：

[1] Harbin Inst Technol, Dept Elect Engn, Harbin 150001, Peoples R China

来源：

PROCEEDINGS OF 2005 CHINESE CONTROL AND DECISION CONFERENCE, VOLS 1 AND 2 | 2005年

关键词：

nonlinear control; crane; underactuated; exact linearization; all state feedback;

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

The controller design for the payload of gantry crane with various pendulum lengths includes servo control of the cart position and pendulum length, and anti-swaying control of the payload. A partial nonlinear decoupling control scheme is presented. Based on input-output exact linearization, the commplete state feedback controller is designed for the cart position and pendulum length to guarantee the servo performance; and the controller for cart position is redesigned to reduce the underactuated payload swing effectively. Simulation results verify the feasibility of this scheme.

引用

页码：196 / +

页数：4

共 11 条

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