Design of the state feedback-based feed-forward controller asymptotically stabilizing the overhead crane at the desired end position

DOI10.5890/JAND.2021.06.012zbMATH Open1478.93214arXiv1903.02956MaRDI QIDQ5026322FDOQ5026322

Authors: Robert Vrabel 

Publication date: 7 February 2022

Published in: Journal of Applied Nonlinear Dynamics (Search for Journal in Brave)

Abstract: The problem of feed-forward control of overhead crane system is discussed. By combining the Kalman's controllability theory and Hartman-Grobman theorem from dynamical system theory, a linear, continuous state feedback-based feed-forward controller that stabilizes the crane system at the desired end position of payload is designed. The efficacy of proposed controller is demonstrated by comparing the simulation experiment results for overhead crane with/without time-varying length of hoisting rope.

Full work available at URL: https://arxiv.org/abs/1903.02956

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zbMATH Keywords

asymptotic stabilizationsimulation experimentoverhead crane systemstate feedback-based controller

Mathematics Subject Classification ID

Control of mechanical systems (70Q05) Feedback control (93B52) Asymptotic stability in control theory (93D20)

Cites Work

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• A novel online motion planning method for double-pendulum overhead cranes
• Robust pole assignment in linear state feedback

Cited In (3)

• Observer-Controller Design for Three Dimensional Overhead Cranes Using Time-Scaling
• The linear quadratic regulator based on input shaping technique and its application
• State estimation, positioning and anti-swing robust control of traveling crane-lifter system

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