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

DOI10.5890/JAND.2021.06.012MaRDI QIDQ5026322zbMATHFDO

Authors Robert Vrabel

Publication date 7 February 2022

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

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

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)

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.

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Cites work

• scientific article; zbMATH DE number 1581767 (Why is no real title available?)
• scientific article; zbMATH DE number 47926 (Why is no real title available?)
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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)

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

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