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access icon free Enhanced damping-based anti-swing control method for underactuated overhead cranes

© The Institution of Engineering and Technology
Received 01/07/2014, Accepted 19/04/2015, Published 01/06/2015

In this study, a novel enhanced anti-swing control method is proposed for underactuated overhead crane systems, which shows superior anti-swing control performance than most existing control methods. In particular, to increase the anti-swing control performance of overhead crane systems, an improved damping anti-swing signal is investigated based on a swing-related storage function. Subsequently, based on the anti-swing signal, a constructive Lyapunov function candidate is introduced and a new non-linear anti-swing control method is proposed straightforwardly, and the equilibrium point of the overall closed-loop system is proven to be asymptotically stable by Lyapunov techniques and LaSalle's invariance theorem. Some experimental results are provided to demonstrate the feasibility and effectiveness of the proposed control method. In addition, to illustrate the superior control performance of the proposed method, a comparison study between the designed control method and the existing control methods is provided as well.

Inspec keywords: damping; nonlinear control systems; closed loop systems; cranes; asymptotic stability; Lyapunov methods

Other keywords: underactuated overhead crane systems; improved damping anti-swing signal; nonlinear anti-swing control method; asymptotic stability; LaSalle's invariance theorem; novel enhanced damping-based anti-swing control method; constructive Lyapunov function candidate; swing-related storage function; Lyapunov techniques; overall closed-loop system

Subjects: Stability in control theory; Control applications to materials handling; Materials handling equipment; Nonlinear control systems; Control technology and theory (production)

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