Modelling and energy based nonlinear control of crane filters

Mansour Karkoub, M. Zribi

Research output: Contribution to journalArticle

31 Citations (Scopus)

Abstract

A nonlinear dynamic model for a crane lifter system is derived using the Lagrangian method. The developed dynamic model has two inputs and four outputs. Several properties of the model such as passivity are presented. An energy based nonlinear control scheme is then proposed for the system. The developed scheme guarantees the asymptotic convergence of the trolley position and the hoist position to their desired values. However, the hoist and the load sway angles will either converge to zero or towards a stable trajectory. To ensure that the hoist and the load sway angles always converge to zero, a linear state feedback controller is used in conjunction with the nonlinear control scheme. The derived model and the control scheme are simulated using a digital computer; the simulation results illustrate the theoretical developments very well.

Original languageEnglish
Pages (from-to)209-216
Number of pages8
JournalIEE Proceedings: Control Theory and Applications
Volume149
Issue number3
DOIs
Publication statusPublished - May 2002
Externally publishedYes

Fingerprint

cranes
Hoists
Cranes
filters
dynamic models
Dynamic models
digital computers
Digital computers
State feedback
passivity
energy
controllers
Trajectories
trajectories
Controllers
output
simulation

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Instrumentation
  • Electrical and Electronic Engineering

Cite this

Modelling and energy based nonlinear control of crane filters. / Karkoub, Mansour; Zribi, M.

In: IEE Proceedings: Control Theory and Applications, Vol. 149, No. 3, 05.2002, p. 209-216.

Research output: Contribution to journalArticle

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