Lyapunov theory based robust control of complicated nonlinear mechanical systems with uncertainty

Cho, Hyun Cheol; Lee, Jin Woo; Lee, Young Jin; Lee, Kwon Soon

doi:10.1007/s12206-008-0707-z

Cited by 18 publications

(7 citation statements)

References 8 publications

(9 reference statements)

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“…The rope length ( ) l t is treated as a prespecified function and, therefore, it is not necessary to consider its variations when evaluating (10), that is,…”

Section: System Dynamicsmentioning

confidence: 99%

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Boundary control of container cranes from the perspective of controlling an axially moving string system

Kim

Hong

2009

Int. J. Control Autom. Syst.

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The control objectives in this paper are to move the load of a container crane to its target position and to suppress the transverse vibration of the load. Owing to the fact that the load is hoisted up and down, the crane is modeled as an axially moving string system. The dynamics of the moving string are derived using Hamilton's principle for systems with changing mass. The Lyapunov function method is used in deriving a boundary control law, where the Lyapunov function candidate takes the form of the total mechanical energy of the system. The boundary control law utilizes the hoisting speed as well as the sway angle of the rope at the gantry side. Through experiment, the effectiveness of the proposed control law is demonstrated particularly in the lift-up process of the load.

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“…The rope length ( ) l t is treated as a prespecified function and, therefore, it is not necessary to consider its variations when evaluating (10), that is,…”

Section: System Dynamicsmentioning

confidence: 99%

“…Over the past few decades, numerous papers on crane control have appeared in the literature [10,12,20,22,25]. However, most of them used an ordinary differential equation (ODE) model in deriving their control laws.…”

Section: Introductionmentioning

confidence: 99%

Boundary control of container cranes from the perspective of controlling an axially moving string system

Kim

Hong

2009

Int. J. Control Autom. Syst.

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“…Focused on non linear control of cra ne system, several approaches have been proposed such as slidin g mode control [6][7][8], Feedback Linearization Control (FLC) [9][10], Lyapunov design [11][12][13][14], adaptive control [15][16][17][18]. The present study pursues the control of c rane system using FLC direction.…”

Section: Introductionmentioning

confidence: 99%

“…Recently, a paper of Cho [22] proposed a control scheme linearly composed of nominal PD control and corrective one in which the nominal PD control law was designed by means of feedback linearization. Also, Cho [23] extended the PFL based controller in pape r [22] where the adaptive component was integrated.…”

Section: Introductionmentioning

confidence: 99%

Partial Feedback Linearization Control of the three dimensional overhead crane

Tuấn

Kim

Lee

2012

2012 IEEE International Conference on Automation Science and Engineering (CASE)

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Based on the partial feedback linearization, a novel nonlinear controller is analyzed and designed for three dimensional motion of overhead crane. Three control inputs composed of b ridge moving, trolley travelling, and cargo hoisting forces are used to drive five state variables consisted of bridge motion, trolley movement, cargo hoisting displacement, and two cargo swing angles. The control scheme is constituted by linearly combining two components: one is got from the nonlinear feedback of actuated states and the other is received from that of un-actuated states. To verify the quality of control process, the numerical simulation is executed. The received results show that the proposed controller asymptotically stabilizes all system states.

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“…Naturally, the load was assumed to be held by one rope [15][16][17][18][19][20]. However, the rigid body motion of a load cannot be discussed with a single rope formulation.…”

Section: Introductionmentioning

confidence: 99%

Skew control of a quay container crane

Ngo

Hong

2009

J Mech Sci Technol

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In this paper, the skew control of the load (container) in the quay crane used in the dockside of a container terminal is investigated. The mathematical model of the 3-dimensional (3D) motions of the load is first derived. The container hooked to a spreader is suspended by four ropes in air. When the container is accelerated by the trolley or is disturbed by winds, it will make a rotational motion (trim, list, and skew) as well as a sway motion in the vertical plane. In such a case, the position of the container becomes difficult to control accurately due to the rotational motion even with the sway motion under control. This paper proposes an input shaping technique for the skew control based on the 3D dynamics of the container. The adopted skew control system uses four electric motors to vary the length of the four ropes individually. Simulation results show the effectiveness of the proposed system in controlling the skew motion.

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Lyapunov theory based robust control of complicated nonlinear mechanical systems with uncertainty

Cited by 18 publications

References 8 publications

Boundary control of container cranes from the perspective of controlling an axially moving string system

Boundary control of container cranes from the perspective of controlling an axially moving string system

Partial Feedback Linearization Control of the three dimensional overhead crane

Skew control of a quay container crane

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