The Transactions of The Korean Institute of Electrical Engineers (전기학회논문지)

The Korean Institute of Electrical Engineers (대한전기학회)
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Anti-Swing Control of Overhead Crane System using Sum of Squares Method

천정형 크레인의 흔들림 억제제어에 관한 SOS 접근법

  • Hong, Jin-Hyun (Dept. of Electrical and Computer Engineering, Ajou University) ;
  • Kim, Cheol-Joong (Dept. of Electrical and Computer Engineering, Ajou University) ;
  • Chwa, Dongkyoung (Dept. of Electrical and Computer Engineering, Ajou University)
  • Received : 2012.12.18
  • Accepted : 2013.02.20
  • Published : 2013.03.01
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Abstract

This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation.

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References

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