By Topic

Modelling and energy based nonlinear control of crane lifters

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $31
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

2 Author(s)
Karkoub, M.A. ; Coll. of Eng. & Pet., Kuwait Univ., Kuwait ; Zribi, M.

A nonlinear dynamic model for a crane lifter system is derived using the Lagrangian method. The developed dynamic model has two inputs and four outputs. Several properties of the model, such as passivity, are presented. An energy-based nonlinear control scheme is then proposed for the system. The developed scheme guarantees the asymptotic convergence of the trolley position and the hoist position to their desired values. However, the hoist and the load sway angles either converge to zero or towards a stable trajectory. To ensure that the hoist and the load sway angles always converge to zero, a linear state feedback controller is used in conjunction with the nonlinear control scheme. The derived model and the control scheme are simulated using a digital computer; the simulation results illustrate the theoretical developments very well

Published in:

Control Theory and Applications, IEE Proceedings -  (Volume:149 ,  Issue: 3 )