کد مقاله کد نشریه سال انتشار مقاله انگلیسی نسخه تمام متن
5003989 1461190 2016 10 صفحه PDF دانلود رایگان
عنوان انگلیسی مقاله ISI
Partial feedback linearization control for 3-D underactuated overhead crane systems
موضوعات مرتبط
مهندسی و علوم پایه سایر رشته های مهندسی کنترل و سیستم های مهندسی
پیش نمایش صفحه اول مقاله
Partial feedback linearization control for 3-D underactuated overhead crane systems
چکیده انگلیسی
In this paper, a novel anti-swing control method is proposed for 3-dimensional (3-D) underactuated overhead crane systems, which guarantees fast transportation and efficient swing suppression. Specifically, to increase the performance of the payload swing suppression, a swing-suppressing element is introduced, based on which a novel positioning error signal is constructed. Then, a new control method is developed, and the overall system is divided into two subsystems. The stability analysis of the two subsystems and the overall system is given. In addition, the convergence of the system states is proved. Simulation results are provided to demonstrate the superior performance of the proposed controller over the existing controllers. Meanwhile, the practical performance of the proposed controller is experimentally validated on a portable overhead crane test-bed.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: ISA Transactions - Volume 65, November 2016, Pages 361-370
نویسندگان
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