Sie befinden Sich nicht im Netzwerk der Universität Paderborn. Der Zugriff auf elektronische Ressourcen ist gegebenenfalls nur via VPN oder Shibboleth (DFN-AAI) möglich. mehr Informationen...
Partial feedback linearization control of a three-dimensional overhead crane
Ist Teil von
International Journal of Control, 2013, Automation, and Systems, 11(4), , pp.718-727
Ort / Verlag
Berlin/Heidelberg: Springer Berlin Heidelberg
Erscheinungsjahr
2013
Link zum Volltext
Quelle
SpringerLink (Online service)
Beschreibungen/Notizen
Based on partial feedback linearization, an improved nonlinear controller is analyzed and designed for the three-dimensional motion of an overhead crane. Three control inputs composed of bridge moving, trolley travelling, and cargo hoisting forces are used to drive five state variables consisting of bridge motion, trolley movement, cargo hoisting displacement, and two cargo swing angles. The control scheme is constituted by linearly combining two components that are separately obtained from the nonlinear feedback of actuated and un-actuated states. To verify the quality of the control process, both numerical simulation and experimental study are carried out. The proposed controller asymptotically stabilizes all system states.