NDLI: A novel nonlinear coupling control approach for overhead cranes: Theory and implementation

Content Provider	IEEE Xplore Digital Library
Author	Ning Sun Yongchun Fang Xuebo Zhang
Copyright Year	2012
Description	Author affiliation: Inst. of Robot. & Autom. Inf. Syst., Nankai Univ., Tianjin, China (Ning Sun; Yongchun Fang; Xuebo Zhang)
Abstract	This paper presents a novel nonlinear control approach for underactuated overhead crane systems, which guarantees both fast trolley positioning and sufficient payload swing eliminating performances. The controller is applicable to both regulation control and trajectory tracking control. Via the utilization of a payload position-like signal, the nonlinear coupling behavior between the actuated trolley horizontal motion and the unactuated payload swing is artificially enhanced. Specifically, by constructing an elegant error signal, the controller is put forward, and the overall crane dynamics is transformed into an interconnected system consisting of two subsystems with respect to (w.r.t.) the constructed error signal and the payload swing, respectively. Subsequently, both subsystems are proven to be input-to-state stable (ISS); by invoking the small gain theorem, we further show that the overall interconnected system is ISS, all of which are supported by Lyapunov techniques. LaSalle's invariance theorem is utilized to prove that the system state is driven to the equilibrium point. Numerical simulation results are included to demonstrate the feasibility and superior performance of the proposed method over existing methods, and its robustness against external disturbances.
Sponsorship	IEEE Control Syst. Soc.
Starting Page	6276
Ending Page	6281
File Size	293183
Page Count	6
File Format	PDF
ISBN	9781457710957
ISSN	07431619
e-ISBN	9781457710964
e-ISBN	9781467321020
DOI	10.1109/ACC.2012.6314636
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-06-27
Publisher Place	Canada
Access Restriction	Subscribed
Rights Holder	American Automatic Control Council(AACC)
Subject Keyword	Payloads Cranes Trajectory Couplings Simulation Interconnected systems Robustness
Content Type	Text
Resource Type	Article
Subject	Electrical and Electronic Engineering

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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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