Abstract
This chapter proposes a novel anti-swing control strategy for an overhead crane. The controller includes both position regulation and anti-swing control. Since the crane model is not exactly known, fuzzy rules are used to compensate friction, gravity as well as the coupling between position and anti-swing control. A highgain observer is introduced to estimate the joint velocities to realize PD control. Using a Lyapunov method and an input-to-state stability technique, the controller is proven to be robustly stable with bounded uncertainties, if the membership functions are changed by certain learning rules and the observer is fast enough. Real-time experiments are presented comparing this new stable anti-swing PD control strategy with regular crane controllers.
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Yu, W., Li, X., Irwin, G.W. (2008). Stable Anti-Swing Control for an Overhead Crane with Velocity Estimation and Fuzzy Compensation. In: Lowen, R., Verschoren, A. (eds) Foundations of Generic Optimization. Mathematical Modelling: Theory and Applications, vol 24. Springer, Dordrecht. https://doi.org/10.1007/978-1-4020-6668-9_6
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