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논문 기본 정보

자료유형
학술대회자료
저자정보
(Ho Chi Minh City University of Technology) (Ho Chi Minh City University of Technology) (Dong-Eui University)
저널정보
제어로봇시스템학회 제어로봇시스템학회 국제학술대회 논문집 ICCAS 2015
발행연도
수록면
41 - 47 (7page)

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초록· 키워드

In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane is developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme is designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values are used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results.
#3-D overhead crane #nonlinear adaptive control #Lyapunov method #Euler-Lagrange equation #Sway control
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목차

  1. Abstract
  2. 1. INTRODUCTION
  3. 2. DYNAMICS OF A 3-D OVERHEAD CRANE
  4. 3. CONTROL DESIGN
  5. 4. EXPERIMENT RESULTS
  6. 5. CONCLUSIONS
  7. REFERENCES

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