| Title |
Robust Adaptive Control of 3D Crane Systems with Uncertainty |
| Authors |
정상철(Jeong, Sang-Chul) ; 김동원(Kim, Dong-Won) ; 이형기(Lee, Hyung-Ki) ; 조현철(Cho, Hyun-Cheol) |
| Keywords |
Crane systems ; Robust adaptive control ; Lyapunov theory ; Model based control ; System perturbation |
| Abstract |
This paper presents robust and adaptive control method for complicated three dimensional crane systems with uncertain effect. We consider an overhead crane system in which a trolly located on its top is moved to x- and y-axis independently. We first approximate the complicated crane model through linearization approach to simply construct a PD control and then design an adaptive control system for compensating modeling error and control deviation which is feasibly occurred due to system perturbation in practice. An adaptive control scheme is analytically derived using Lyapunov stability theory for a given bound of system perturbation. We accomplish numerical simulation for evaluation of the proposed control system and demonstrate its superiority comparing with the traditional control strategy. |