| Title |
Anti-Swing Control of Overhead Crane System using Sum of Squares Method |
| Authors |
홍진현(Hong, Jin-Hyun) ; 김철중(Kim, Cheol-Joong) ; 좌동경(Chwa, Dongkyoung) |
| DOI |
https://doi.org/10.5370/KIEE.2013.62.3.407 |
| Keywords |
Anti-swing control ; Overhead crane ; Sum of squares ; Taylor series expansion ; Input constraint |
| Abstract |
This paper proposes anti-swing control of overhead crane system using sum of squares method. The dynamic equations of overhead crane include nonlinear terms, which are transformed into polynomials by using Taylor series expansion. Therefore the dynamic equation of overhead crane can be changed to the system of polynomial equation. On the basis of polynomial dynamics of crane system, we propose the Sum of Squares (SOS) conditions considering the input constraints. In addition, control gains are obtained by numerical tool which is called by SOSTOOL. The effectiveness of the proposed method is demonstrated by numerical simulation. |