Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations
| Dublin Core | PKP Metadata Items | Metadata for this Document | |
| 1. | Title | Title of document | Nonlinear tracking control of a 3-D overhead crane with friction and payload compensations |
| 2. | Creator | Author's name, affiliation, country | Anh-Huy Vo; Department of Mechatronics, Ho Chi Minh City University of Technology; Viet Nam |
| 2. | Creator | Author's name, affiliation, country | Quoc-Toan Truong; Department of Mechatronics, Ho Chi Minh City University of Technology; Viet Nam |
| 2. | Creator | Author's name, affiliation, country | Ha-Quang-Thinh Ngo; Department of Mechatronics, Ho Chi Minh City University of Technology; and Control and Automation Laboratory, Ho Chi Minh City University of Technology; Viet Nam |
| 2. | Creator | Author's name, affiliation, country | Quoc-Chi Nguyen; Department of Mechatronics, Ho Chi Minh City University of Technology; and Control and Automation Laboratory, Ho Chi Minh City University of Technology; Viet Nam |
| 3. | Subject | Discipline(s) | Mechatronics, |
| 3. | Subject | Keyword(s) | 3-D overhead crane; nonlinear adaptive control; Lyapunov method; Euler-Lagrange equation; sway control; |
| 4. | Description | Abstract | In this paper, a nonlinear adaptive control of a 3D overhead crane is investigated. A dynamic model of the overhead crane was developed, where the crane system is assumed as a lumped mass model. Under the mutual effects of the sway motions of the payload and the hoisting motion, the nonlinear behavior of the crane system is considered. A nonlinear control model-based scheme was designed to achieve the three objectives: (i) drive the crane system to the desired positions, (ii) suppresses the vibrations of the payload, and (iii) velocity tracking of hoisting motion. The nonlinear control scheme employs adaptation laws that estimate unknown system parameters, friction forces and the mass of the payload. The estimated values were used to compute control forces applied to the trolley of the crane. The asymptotic stability of the crane system is investigated by using the Lyapunov method. The effectiveness of the proposed control scheme is verified by numerical simulation results. |
| 5. | Publisher | Organizing agency, location | National Research and Innovation Agency |
| 6. | Contributor | Sponsor(s) | This research is funded by Vietnam National Foundation for Science and Technology Development (NAFOSTED) under grant number 107.04-2012.37 and by Vietnam National University HoChiMinh City (VNU-HCM) under grant number C2013-20-01 |
| 7. | Date | (YYYY-MM-DD) | 2016-07-29 |
| 8. | Type | Status & genre | Peer-reviewed Article |
| 8. | Type | Type | |
| 9. | Format | File format | |
| 10. | Identifier | Uniform Resource Identifier | https://mev.brin.go.id/mev/article/view/290 |
| 10. | Identifier | Digital Object Identifier (DOI) | https://doi.org/10.14203/j.mev.2016.v7.27-34 |
| 11. | Source | Title; vol., no. (year) | Journal of Mechatronics, Electrical Power, and Vehicular Technology; Vol 7, No 1 (2016) |
| 12. | Language | English=en | en |
| 13. | Relation | Supp. Files | |
| 14. | Coverage | Geo-spatial location, chronological period, research sample (gender, age, etc.) | |
| 15. | Rights | Copyright and permissions |
Copyright (c) 2016 Journal of Mechatronics, Electrical Power, and Vehicular Technology This work is licensed under a Creative Commons Attribution-NonCommercial-ShareAlike 4.0 International License. |