Title :
Variable structure control of an overhead crane
Author :
Er, M.J. ; Zribi, M. ; Lee, K.L.
Author_Institution :
Sch. of Electr. & Electron. Eng., Nanyang Technol. Inst., Singapore
Abstract :
Addresses the control problem of an overhead crane. A variable structure control scheme is used to regulate the trolley position and the hoisting motion towards their desired values. However, when this control law is used, the load swing angle exhibits small oscillations around the equilibrium point. To eliminate these oscillations, a state feedback controller is used in conjunction with the variable structure controller. Simulation results are given to verify the theoretical developments
Keywords :
cranes; materials handling; motion control; oscillations; position control; state feedback; variable structure systems; hoisting motion control; load swing angle; overhead crane; state feedback controller; trolley position regulation; variable structure control; Cranes; Electric variables control; Electrical equipment industry; Industrial control; Lagrangian functions; Motion control; Optimal control; Sliding mode control; State feedback; Torque;
Conference_Titel :
Control Applications, 1998. Proceedings of the 1998 IEEE International Conference on
Conference_Location :
Trieste
Print_ISBN :
0-7803-4104-X
DOI :
10.1109/CCA.1998.728465
