Title :
Oscillation attenuation in an overhead crane: Comparison of some approaches
Author :
Vazquez, Carlos ; Collado, Joaquin
Author_Institution :
Dept. of Autom. Control, CINVESTAV-IPN, Mexico City, Mexico
Abstract :
This paper presents a second-order sliding mode (SOSM) control for oscillation attenuation in a five degrees of freedom (5DOF) overhead crane. Furthermore the paper illustrates how the prefilter can be advantageously combined with the SOSM controller to obtain a better performance in the oscillation attenuation problem. Additionally, we present a comparison with the well known proportional-derivative (PD) controller. The performance of the controllers is simulated in a nonlinear model and tested experimentally on a scale model of 5DOF overhead crane.
Keywords :
PD control; cranes; variable structure systems; 5DOF overhead crane; PD controller; degrees of freedom; oscillation attenuation; proportional derivative controller; second order sliding mode control; Acceleration; Attenuation; Automatic control; Containers; Control systems; Cranes; Mechanical systems; Open loop systems; PD control; Sliding mode control; Overhead crane control; prefilter; second order sliding modes control;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control,CCE,2009 6th International Conference on
Conference_Location :
Toluca
Print_ISBN :
978-1-4244-4688-9
Electronic_ISBN :
978-1-4244-4689-6
DOI :
10.1109/ICEEE.2009.5393418
