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A Feedback Linearization Control of Container Cranes: Varying Rope Length  

Park, Hahn (School of Mechanical Engineering, Pusan National University)
Chwa, Dong-Kyoung (School of Electrical and Computer Engineering, Ajou University)
Hong, Keum-Shik (School of Mechanical Engineering, Pusan National University)
Publication Information
International Journal of Control, Automation, and Systems / v.5, no.4, 2007 , pp. 379-387 More about this Journal
Abstract
In this paper, a nonlinear anti-sway controller for container cranes with load hoisting is investigated. The considered container crane involves a planar motion in conjunction with a hoisting motion. The control inputs are two (trolley and hoisting forces), whereas the variables to be controlled are three (trolley position, hoisting rope length, and sway angle). A novel feedback linearization control law provides a simultaneous trolley-position regulation, sway suppression, and load hoisting control. The performance of the closed loop system is shown to be satisfactory in the presence of disturbances at the payload and rope length variations. The advantage of the proposed control law lies in the full incorporation of the nonlinear dynamics by partial feedback linearization. The uniform asymptotic stability of the closed-loop system is assured irrespective of variations of the rope length. Simulation and experimental results are compared and discussed.
Keywords
Crane control; Lyapunov function; modeling; nonlinear control; partial feedback linearization;
Citations & Related Records
Times Cited By KSCI : 5  (Citation Analysis)
Times Cited By Web Of Science : 17  (Related Records In Web of Science)
Times Cited By SCOPUS : 14
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