Nonlinear controller design for a crane system with state constraints

被引：0

作者：

Yoshida, K ^{[1
]}

机构：

[1] Shimane Univ, Dept Elect Control Syst Engn, Matsue, Shimane 690, Japan

来源：

PROCEEDINGS OF THE 1998 AMERICAN CONTROL CONFERENCE, VOLS 1-6 | 1998年

关键词：

D O I：

暂无

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

For a crane system in which the trolley stroke and the pendulum length are constrained to move in a specified range, a stabilizing control law that damps the pendulum oscillation quickly has been proposed using: the Lyapunov's second method. In deriving: the law, all the nonlinearities of the system are considered. The control system has the structure where the trolley and the load are moved according to sinusoidal reference functions generated from the pendulum trajectory. The results of a numerical experiment show that the design method realizes a high performance control system with some robustness with respect to parameter variations in the controlled system.

引用

页码：1277 / 1283

页数：7

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