Nonlinear Adaptive Stabilization Control for 3D Overhead Crane System with Adoption Parameter

• Main Authors: Kuang-Shine Yang, 楊光勳
• Other Authors: Yang Jung-Hua
• Format: Others
• Language: en_US
• Published: 2006
• Online Access: http://ndltd.ncl.edu.tw/handle/25012699199068048371

碩士 === 國立屏東科技大學 === 車輛工程系碩士班 === 94 === Due to the requirements of high positioning accuracy, small swing angle, short transportation time, and high safety, both motion and stabilization control for an overhead crane system becomes an interesting issue in the field of control technology development. Since the overhead crane system is subject to underactuation with respect to the load sway dynamics, it is very hard to manipulate the crane system in a desired manner, namely, gantry position tracking and sway angle stabilization. Hence, in this thesis, a nonlinear control scheme which incorporates both the cart motion dynamics and sway angle dynamics is devised to ensure the overall closed-loop system stability. To cope with parametric uncertainty, an adaptive version for the developed nonlinear controller has also been presented. In the developed control laws, the position error will be driven to zero while the sway angle is rapidly damped to achieve minimal swing of the pendulum. Besides, stability proof of the overall system is given, in terms of Lyapunov concept. To demonstrate the effectiveness of the proposed controller, results for both computer simulation and experiments are also show.