Nonlinear Control of a Gantry Crane System with Limited Payload Angle

International Journal of Electrical and Electronics Engineering
© 2018 by SSRG - IJEEE Journal
Volume 5 Issue 8
Year of Publication : 2018
Authors : Nguyen Huu Hai, Nguyen Dang Toan, Nguyen Ba Kha, Mai The Thang and Tran Thi Hong Tham
: 10.14445/23488379/IJEEE-V5I8P102
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Citation:
MLA Style:

Nguyen Huu Hai, Nguyen Dang Toan, Nguyen Ba Kha, Mai The Thang and Tran Thi Hong Tham, "Nonlinear Control of a Gantry Crane System with Limited Payload Angle" SSRG International Journal of Electrical and Electronics Engineering 5.8 (2018): 6-10.

APA Style:

Nguyen Huu Hai, Nguyen Dang Toan, Nguyen Ba Kha, Mai The Thang and Tran Thi Hong Tham,(2018). Nonlinear Control of a Gantry Crane System with Limited Payload Angle. SSRG International Journal of Electrical and Electronics Engineering 5(8), 6-10.

Abstract:

The paper deals with tracking and vibration suppression problem of a gantry system. Based on flatness property of the gantry, a controller that ensures zero tracking error of the payload and minimizes payload fluctuation is designed. In addition, a PI controller is integrated to the system to drive the payload-swinging angle to a certain range. Numerical simulations are also given to prove the effectiveness of the proposed controller.

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Key Words:

 Flatness control, Reference generation, Gantry crane, PI control.