Approximate nonlinear control for a two degree of freedom overhead crane: theory and experimentation

S. C. Martindale, D. M. Dawson, J. Zhu, Christopher D. Rahn

Research output: Contribution to journalConference article

24 Citations (Scopus)

Abstract

In this paper, we develop nonlinear algorithms for accurately controlling the payload position for a two-degree of freedom overhead crane system. Since this model does not lend itself to nonlinear control design in a straightforward manner, we develop an approximate model of the system which facilitates the construction of error systems suitable for the development of back-stepping type controllers. A Lyapunov-like argument is then applied to the approximate model under the proposed control to elucidate payload positioning performance. Experimental results are used to validate the performance of the control approach. A discussion of cable flexibility and actuator dynamics is also presented.

Original languageEnglish (US)
Pages (from-to)301-305
Number of pages5
JournalProceedings of the American Control Conference
Volume1
StatePublished - Jan 1 1995
EventProceedings of the 1995 American Control Conference. Part 1 (of 6) - Seattle, WA, USA
Duration: Jun 21 1995Jun 23 1995

Fingerprint

Cranes
Cables
Actuators
Controllers

All Science Journal Classification (ASJC) codes

  • Electrical and Electronic Engineering

Cite this

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Approximate nonlinear control for a two degree of freedom overhead crane : theory and experimentation. / Martindale, S. C.; Dawson, D. M.; Zhu, J.; Rahn, Christopher D.

In: Proceedings of the American Control Conference, Vol. 1, 01.01.1995, p. 301-305.

Research output: Contribution to journalConference article

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