Abstract
Based on partial feedback linearization, an improved nonlinear controller is analyzed and designed for the three-dimensional motion of an overhead crane. Three control inputs composed of bridge moving, trolley travelling, and cargo hoisting forces are used to drive five state variables consisting of bridge motion, trolley movement, cargo hoisting displacement, and two cargo swing angles. The control scheme is constituted by linearly combining two components that are separately obtained from the nonlinear feedback of actuated and un-actuated states. To verify the quality of the control process, both numerical simulation and experimental study are carried out. The proposed controller asymptotically stabilizes all system states.
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Recommended by Editorial Board member Pinhas Ben-Tzvi under the direction of Editor Hyouk Ryeol Choi.
This research was supported by the IT R&D program of MKE/KEIT [KI10040990, A Development of Communication Technology with UTIS & Vehicle Safety Support Service for Urban Area]_and by the Implementation of Technologies for Identification, Behavior, and Location of Human based on Sensor Network Fusion Program through the MKE (Grant Number: 10041629). It also was supported by the Technology Innovation Program (10040992) of MKE/KEIT.
Le Anh Tuan graduated both B.Eng. and M.Eng. in Mechanical Engineering and Marine Machinery from Vietnam Maritime University in 2003 and 2007, respectively. He received his Ph.D. degree in Mechanical Engineering from Kyung Hee University, Korea in 2012. He is a part-time researcher of Duy Tan University, Da Nang, Vietnam. His interested research composes of applied nonlinear control, dynamics and control of industrial machines.
Soon-Geul Lee received his B.E. degree in Mechanical Engineering from Seoul National University, Seoul, Korea; an M.S. degree in Production Engineering from KAIST, Seoul, Korea; and a Ph.D. degree in Mechanical Engineering from the University of Michigan in 1983, 1985 and 1993, respectively. Since 1996, he has been with the Department of Mechanical Engineering of Kyung Hee University, Yongin, Korea, where he is currently a Professor. His research interests include robotics and automation, mechatronics, intelligent control, and biomechanics.
Viet-Hung Dang graduated as an electric-electronics engineer from HoChi-Minh University of Technology in 2003, Vietnam. He got his M.S. from the same university in 2005. He received his Ph.D. degree in Computer Science at Kyung Hee University, Korea in 2012. He is now working for Research and Development Center in Duy Tan University, Vietnam. His research interests are machine learning, artificial intelligence, localization and navigation.
Sangchan Moon received his B.C and M.S degrees in Department of Mechanical Engineering from Kyung Hee University. He is currently pursuing a Ph.D. degree at the Department of Mechanical Engineering, Kyung Hee University. His research interests are in the area of developing a precision positioning system for intelligent vehicle with GPS/INS.
ByungSoo Kim received his B.E. degree in Mechanical Design Engineering from Seoul National University of Science and Technology, Seoul, Korea; his M.S. and Ph.D. degrees in Mechanical Engineering from Kyung Hee University, Yongin, Korea. He is currently as post-doctoral researcher at the Department of Mechanical Engineering, Kyung Hee University. His research interests include humanoid robot, mechatronics, intelligent control, and mobile robot.
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Tuan, L.A., Lee, SG., Dang, VH. et al. Partial feedback linearization control of a three-dimensional overhead crane. Int. J. Control Autom. Syst. 11, 718–727 (2013). https://doi.org/10.1007/s12555-012-9305-z
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DOI: https://doi.org/10.1007/s12555-012-9305-z