Title :
Garbage grab bucket controller based on input shaping and PD feedback control
Author :
Dai, Shijie ; Ren, Gang ; Zhao, Lei ; Ren, Weiguo
Author_Institution :
Res. Inst. of Robot. & Autom., Hebei Univ. of Technol., Tianjin
Abstract :
A control strategy that combines input shaping with PD feedback control is presented in this paper. Input shaping was used to cancel the swing of the bucket, and feedback was used to detect and eliminate the position error of the trolley. Simulation of the bucket dynamics was carried on to evaluate the performance of the controller.
Keywords :
PD control; cranes; feedback; position control; PD feedback control; bucket dynamics; garbage grab bucket controller; trolley; Control systems; Cranes; Damping; Feedback control; Induction motors; PD control; Payloads; Robotics and automation; Shape control; Switches; Anti-sway; Crane control; Garbage grab bucket; Input shaping; Oscillation control;
Conference_Titel :
Automation and Logistics, 2008. ICAL 2008. IEEE International Conference on
Conference_Location :
Qingdao
Print_ISBN :
978-1-4244-2502-0
Electronic_ISBN :
978-1-4244-2503-7
DOI :
10.1109/ICAL.2008.4636447
