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