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Composite nonlinear feedback control of a JIB trolley of a tower cranebehaviors

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Details

Original languageEnglish
Title of host publication2019 18th European Control Conference, ECC 2019
PublisherIEEE
Pages1124-1129
Number of pages6
ISBN (Electronic)9783907144008
DOIs
Publication statusPublished - 1 Jun 2019
Publication typeA4 Article in a conference publication
EventEuropean Control Conference - Naples, Italy
Duration: 25 Jun 201928 Jun 2019

Conference

ConferenceEuropean Control Conference
CountryItaly
CityNaples
Period25/06/1928/06/19

Abstract

Cranes are required to lift and carry loads swiftly to desired positions without causing excessive swaying motion of the load. These are conflicting requirements, which make feedback control of crane systems challenging. Furthermore, variations in rope length and load mass complicate controller design, since they significantly influence swaying dynamics. This paper considers automatic control of Quanser 3DOF tower crane system using composite nonlinear feedback (CNF) methodology. To be more specific, a CNF controller is designed for the jib trolley position of the crane using partial state measurements. The performance of the CNF controller is compared with Quanser's built-in linear quadratic regulator (LQR) controller both in simulation and experimental setups. The results show that the CNF controller provides better load handling capability in terms of fast positioning of the jib trolley and damping of load swaying.

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