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Anti-Sway Control of the Overhead Crane System using HOSM Observer
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 Title & Authors
Anti-Sway Control of the Overhead Crane System using HOSM Observer
Kwon, Dongwoo; Eom, Myunghwan; Chwa, Dongkyoung;
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 Abstract
This paper proposes a sum of squares (SOS) method for anti-swing control of overhead crane system using HOSM (High-Order Sliding-Mode) observer. By representing the dynamic equations of overhead crane as the polynomial dynamic equations via Taylor series expansion, the control input is obtained from the converted polynomial dynamic equations by numerical tool SOSTOOL. Since the actual crane systems include disturbance such as wind and friction, we propose a method to compensate for the disturbance by estimating the disturbance using HOSM observer. Numerical simulations show the effectiveness and the applicability of the proposed method.
 Keywords
Sum of squares;Anti-swing crane control;Polynomial dynamic equations;Disturbance;HOSM Observer;
 Language
English
 Cited by
 References
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