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http://dx.doi.org/10.5302/J.ICROS.2014.14.0085

Adaptive Variable Structure Control of Container Cranes with Unknown Payload and Friction  

Baek, Woon-Bo (Department of Mechatronics Engineering, Dong-eui University)
Lim, Joong-Seon (Department of Mechatronics Engineering, Dong-eui University)
Publication Information
Journal of Institute of Control, Robotics and Systems / v.20, no.10, 2014 , pp. 1008-1013 More about this Journal
Abstract
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.
Keywords
container cranes; sway suppression; variable structure control; friction compensation; unknown payload;
Citations & Related Records
Times Cited By KSCI : 3  (Citation Analysis)
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