NDLI: An increased coupling-based control method for underactuated crane systems: theoretical design and experimental implementation

Content Provider	Springer Nature Link
Author	Sun, Ning Fang, Yongchun Zhang, Xuebo
Copyright Year	2012
Abstract	A novel increased coupling-based nonlinear control strategy is proposed for underactuated overhead crane systems, which guarantees both fast trolley positioning and sufficient payload swing elimination performance. The developed controller is applicable to both regulation control and trajectory tracking control. To artificially increase the trolley-translation/payload-swing internal coupling, a payload position-like composite variable is introduced and a corresponding elegant error signal is then constructed, based on which a novel control law is designed to transform the overhead crane system into an interconnected system consisting of two subsystems with respect to (w.r.t.) the constructed error signal and the payload swing angle, respectively. Both subsystems are proven to be input-to-state stable (ISS); by invoking the small gain theorem, we show that the overall interconnected system is also ISS. LaSalle’s invariance theorem further proves that the system states asymptotically converge to the desired equilibrium point. Experimental results are included to demonstrate the feasibility and effectiveness of the proposed method and also its superior control performance over some existing schemes.
Starting Page	1135
Ending Page	1146
Page Count	12
File Format	PDF
ISSN	0924090X
Journal	Nonlinear Dynamics
Volume Number	70
Issue Number	2
e-ISSN	1573269X
Language	English
Publisher	Springer Netherlands
Publisher Date	2012-07-12
Publisher Place	Dordrecht
Access Restriction	One Nation One Subscription (ONOS)
Subject Keyword	Underactuated overhead cranes Swing elimination Lyapunov techniques Input-to-state stability (ISS) Small gain theorem Mechanical Engineering Automotive Engineering Mechanics Vibration, Dynamical Systems, Control
Content Type	Text
Resource Type	Article
Subject	Ocean Engineering Applied Mathematics Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Aerospace Engineering

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