제어로봇시스템학회논문지 (Journal of Institute of Control, Robotics and Systems)

  • 제20권10호
  • /
  • Pages.1008-1013
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  • 2014
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  • 1976-5622(pISSN)
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  • 2233-4335(eISSN)
제어로봇시스템학회 (Institute of Control, Robotics and Systems)
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Adaptive Variable Structure Control of Container Cranes with Unknown Payload and Friction

  • 백운보 (동의대학교 메카트로닉스공학과) ;
  • 임중선 (동의대학교 메카트로닉스공학과)
  • Baek, Woon-Bo (Department of Mechatronics Engineering, Dong-eui University) ;
  • Lim, Joong-Seon (Department of Mechatronics Engineering, Dong-eui University)
  • 투고 : 2014.08.05
  • 심사 : 2014.09.12
  • 발행 : 2014.10.01
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초록

This paper introduces an adaptive anti-sway tracking control algorithm for container cranes with unknown payloads and friction between the trolley and the rail. If the friction effects in the system can be modeled, there is an improved potential to design controllers that can cancel these effects. The proposed control improves the sway suppressing and the positioning capabilities of the trolley and hoisting against uncertain payload and friction. The variable structure controls are first designed based on a class of feedback linearization methods for the stabilization of the under-actuated sway dynamics. The adaptation mechanism are then designed with parameter estimation of unknown payload and friction compensation for the trolley and hoisting, based on Lyapunov stability methods for the accurate positioning and fast attenuation of trolley oscillation due to frictions in the vicinity of the target position. The asymptotic stability of the overall closed-loop system is assured irrespective of variations of rope length. Simulations are shown under various frictions and external winds in the case of no priori information of payload mass.

키워드

참고문헌

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피인용 문헌

  1. A Second Order Sliding Mode Control of Container Cranes with Unknown Payloads and Sway Rates vol.21, pp.2, 2015, https://doi.org/10.5302/J.ICROS.2015.14.0092