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Robust Adaptive Control of 3D Crane Systems with Uncertainty  

Jeong, Sang-Chul (부산대학교 전기.제어계측공학과)
Kim, Dong-Won (부산대학교 전기.제어계측공학과)
Lee, Hyung-Ki (부산대학교 전기.제어계측공학과)
Cho, Hyun-Cheol (동아대학교 전기공학과)
Publication Information
The Transactions of The Korean Institute of Electrical Engineers / v.57, no.1, 2008 , pp. 102-108 More about this Journal
Abstract
This paper presents robust and adaptive control method for complicated three dimensional crane systems with uncertain effect. We consider an overhead crane system in which a trolly located on its top is moved to x- and y-axis independently. We first approximate the complicated crane model through linearization approach to simply construct a PD control and then design an adaptive control system for compensating modeling error and control deviation which is feasibly occurred due to system perturbation in practice. An adaptive control scheme is analytically derived using Lyapunov stability theory for a given bound of system perturbation. We accomplish numerical simulation for evaluation of the proposed control system and demonstrate its superiority comparing with the traditional control strategy.
Keywords
Crane systems; Robust adaptive control; Lyapunov theory; Model based control; System perturbation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
Times Cited By SCOPUS : 0
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