TY - GEN
T1 - Energy-based approach for controller design of overhead cranes
T2 - 2013 2nd International Conference on Machine Design and Manufacturing Engineering, ICMDME 2013
AU - Hoang, Nguyen Quang
AU - Lee, Soon Geul
N1 - Copyright:
Copyright 2013 Elsevier B.V., All rights reserved.
PY - 2013
Y1 - 2013
N2 - In this paper, five controllers including linear and nonlinear ones for an underactuated overhead crane are derived based on the passivity of the system. The total energy of the system and its square are used in Lyapunov candidate function to design controllers. The equilibrium point of the closed loop is proven to be asymptotically stable by the Lyapunov technique and LaSalle invariance theorem. In addition, the optimal linear controller is also combined to force the swing angle to converge fast to zero by reaching destination of the trolley. Numerical simulations are carried out to evaluate the controllers.
AB - In this paper, five controllers including linear and nonlinear ones for an underactuated overhead crane are derived based on the passivity of the system. The total energy of the system and its square are used in Lyapunov candidate function to design controllers. The equilibrium point of the closed loop is proven to be asymptotically stable by the Lyapunov technique and LaSalle invariance theorem. In addition, the optimal linear controller is also combined to force the swing angle to converge fast to zero by reaching destination of the trolley. Numerical simulations are carried out to evaluate the controllers.
KW - Energy-based control
KW - Nonlinear control
KW - Underactuated overhead crane
UR - http://www.scopus.com/inward/record.url?scp=84885804083&partnerID=8YFLogxK
U2 - 10.4028/www.scientific.net/AMM.365-366.784
DO - 10.4028/www.scientific.net/AMM.365-366.784
M3 - Conference contribution
AN - SCOPUS:84885804083
SN - 9783037857816
T3 - Applied Mechanics and Materials
SP - 784
EP - 787
BT - Machine Design and Manufacturing Engineering II
Y2 - 1 May 2013 through 2 May 2013
ER -