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A Nonlinear Model-Based Anti-Swing Control for Overhead Cranes with High Hoisting Speeds
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 Title & Authors
A Nonlinear Model-Based Anti-Swing Control for Overhead Cranes with High Hoisting Speeds
Lee, Ho-Hun; Jeon, Jong-Hak; Choe, Seung-Gap;
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 Abstract
This paper proposes a new approach for the ant-swing control of overhead cranes. The proposed control consists of a model-based anti-swing control scheme and a practical path planning scheme. The anti-swing control scheme is designed based on the Lyapunov stability theorem; the proposed control does not require the usual constraints of small load mass, small load swing, slow hoisting speed, and small hoisting distance, but guarantees asymptotic stability while keeping all internal signals bounded. The path planning scheme is designed based on the concepts of minimum-time control and anti-swing control; the proposed path planning generates near-minimum-time trajectories independently of hoisting speed and distance. The effectiveness of the proposed control is shown by computer simulation.
 Keywords
Overhead Crane;Anti-swing Control;Load Hoisting Motion;Lyapunov Stability Theorem;
 Language
Korean
 Cited by
1.
천정 크레인시스템의 안정성 해석,반갑수;이광호;모창기;이종규;

한국정밀공학회지, 2005. vol.22. 4, pp.128-135
 References
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