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http://dx.doi.org/10.5394/KINPR.2007.31.6.523

Control of Nonlinear Crane Systems with Perturbation using Model Matching Approach  

Cho, Hyun-Cheol (Control & System Lab, Dept. of Electrical Eng., Dong-A University)
Lee, Jin-Woo (Control & System Lab, Dept. of Electrical Eng., Dong-A University)
Lee, Young-Jin (Dept. of Avionics Electrical Eng., Korea Aviation Polytechnic)
Lee, Kwon-Soon (Dept. of Electrical Eng., Dong-A University)
Publication Information
Journal of Navigation and Port Research / v.31, no.6, 2007 , pp. 523-530 More about this Journal
Abstract
Crane systems are very important in industrial fields to carry heavy objects such that many investigations about control of the systems are actively conducted for enhancing its control performance. This paper presents an adaptive control approach using the model matching for a complex 3-DOF nonlinear crane system. First, the system model is linearized through feedback linearization method and then PD control is applied in the approximated model. This linear model is considered as nominal to derive corrective control law for a perturbed crane model using Lyapunov theory. This corrective control is primitively aimed to compensate real-time control deviation due to partially known perturbation. We additionally study stability analysis of the crane control system using Lyapunov perturbation theory. Evaluation of our control approach is numerically carried out through computer simulation and its superiority is demonstrated comparing with the classical control.
Keywords
Model matching; Crane systems; System perturbation; Feedback linearization; Lyapunov theory;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
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