Cart (Loading....) | Create Account
Close category search window
 

Nonlinear coupling control laws for an underactuated overhead crane system

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 $13
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

4 Author(s)
Fang, Y. ; Sibley Sch. of Mech. & Aerosp. Eng., Cornell Univ., Ithaca, NY, USA ; Dixon, W.E. ; Dawson, D.M. ; Zergeroglu, E.

In this paper, we consider the regulation control problem for an underactuated overhead crane system. Motivated by recent passivity-based controllers for underactuated systems, we design several controllers that asymptotically regulate the planar gantry position and the payload angle. Specifically, utilizing LaSalle's invariant set theorem, we first illustrate how a simple proportional-derivative (PD) controller can be utilized to asymptotically regulate the overhead crane system. Motivated by the desire to achieve improved transient performance, we then present two nonlinear controllers that increase the coupling between the planar gantry position and the payload angle. Experimental results are provided to illustrate the improved performance of the nonlinear controllers over the simple PD controller.

Published in:

Mechatronics, IEEE/ASME Transactions on  (Volume:8 ,  Issue: 3 )

Date of Publication:

Sept. 2003

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.