NDLI: Enhanced damping-based anti-swing control method for underactuated overhead cranes

Content Provider	IET Digital Library
Author	Wu, Xianqing He, Xiongxiong
Abstract	In this study, a novel enhanced anti-swing control method is proposed for underactuated overhead crane systems, which shows superior anti-swing control performance than most existing control methods. In particular, to increase the anti-swing control performance of overhead crane systems, an improved damping anti-swing signal is investigated based on a swing-related storage function. Subsequently, based on the anti-swing signal, a constructive Lyapunov function candidate is introduced and a new non-linear anti-swing control method is proposed straightforwardly, and the equilibrium point of the overall closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle's invariance theorem. Some experimental results are provided to demonstrate the feasibility and effectiveness of the proposed control method. In addition, to illustrate the superior control performance of the proposed method, a comparison study between the designed control method and the existing control methods is provided as well.
Starting Page	1893
Ending Page	1900
Page Count	8
ISSN	17518644
Volume Number	9
e-ISSN	17518652
Issue Number	Issue 12, Aug (2015)
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/iet-cta/9/12
Alternate Webpage(s)	https://digital-library.theiet.org/content/journals/10.1049/iet-cta.2014.1353
Journal	IET Control Theory & Applications
Publisher Date	2015-06-01
Access Restriction	Open
Rights Holder	© The Institution of Engineering and Technology
Subject Keyword	Asymptotic Stability Closed Loop System Constructive Lyapunov Function Candidate Control Application to Materials Handling Control Technology And Theory Cranes Damping Improved Damping Anti-swing Signal LaSalle's Invariance Theorem Lyapunov Method Lyapunov Technique Material Handling Equipment Nonlinear Anti-swing Control Method Nonlinear Control System Novel Enhanced Damping-based Anti-swing Control Method Overall Closed-loop System Stability in Control Theory Swing-related Storage Function Underactuated Overhead Crane System
Content Type	Text
Resource Type	Article
Subject	Control and Optimization Control and Systems Engineering Human-Computer Interaction Electrical and Electronic Engineering Computer Science Applications

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