Title :
Passivity-based-control for double-pendulum-type overhead cranes
Author :
Weiping, Guo ; Diantong, Liu ; Jianqiang, Yi ; Dongbin, Zhao
Author_Institution :
Inst. of Comput. Sci. & Technol., Yantai Univ., Shandong, China
Abstract :
The overhead crane exhibits double-pendulum dynamics because of the large-mass hook. The nonlinear dynamic model of the double-pendulum-type overhead crane is built with Lagrangian method. Several properties of the system model such as the underactuated property, the passivity and its two nature frequencies are analyzed. A passivity-based control method is proposed for double-pendulum-type overhead crane. The method can greatly reduce the number of system states that need measured. Simulation results illustrate the complex system dynamics of the double-pendulum-type overhead crane and validity of the proposed control algorithm.
Keywords :
cranes; nonlinear control systems; pendulums; Lagrangian method; double-pendulum dynamics; hook; nonlinear dynamic model; overhead crane; passivity-based-control algorithm; Algorithm design and analysis; Computer science; Control system analysis; Control systems; Cranes; Frequency; Fuzzy logic; Lagrangian functions; Nonlinear dynamical systems; Payloads;
Conference_Titel :
TENCON 2004. 2004 IEEE Region 10 Conference
Print_ISBN :
0-7803-8560-8
DOI :
10.1109/TENCON.2004.1414991