Journal
IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS
Volume 51, Issue 7, Pages 4127-4138Publisher
IEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
DOI: 10.1109/TSMC.2019.2930815
Keywords
Backstepping technology; boundary control; input amplitude and rate constraints; partial differential equation (PDE) model; payload positioning; three-dimensional (3-D) variable length flexible cable; vibration suppression
Funding
- National Natural Science Foundation of China [61873296]
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This paper discusses the modeling and control problem of an overhead crane equipped with a 3-D variable length flexible cable. A boundary control scheme is used with backstepping technology to effectively drive the payload to a desired position and reduce cable vibration. The simulation results confirm the effectiveness of the proposed control strategy.
In this paper, the modeling and control problem of an overhead crane equipped with a three-dimensional (3-D) variable length flexible cable is discussed. In order to achieve high control performance, a partial differential equation (PDE) model is deduced with exactly preserving high frequency modes of the original system. For the sake of dealing with the effect of input amplitude and rate constraints, a boundary control scheme is carried out to drive the payload to a desired position with the 3-D vibration reduction of the variable length cable by applying the backstepping technology. The exponential stability of the closed-loop system is demonstrated based on the Lyapunov's direct method. The simulation results verify the effectiveness of the proposed control strategy.
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