期刊名称：International Journal of Electrical and Computer Engineering
电子版ISSN：2088-8708
出版年度：2020
卷号：10
期号：6
页码：5793-5801
DOI：10.11591/ijece.v10i6.pp5793-5801
出版社：Institute of Advanced Engineering and Science (IAES)
摘要：This paper proposes an adaptive anti-sway controller for uncertain overhead cranes. The state-space model of the 2D overhead crane with the system parameter uncertainties is shown firstly. Next, the adaptive controller which can adapt with the system uncertainties and input disturbances is established. The proposed controller has ability to move the trolley to the destination in short time and with small oscillation of the load despite the effect of the uncertainties and disturbances. Moreover, the controller has simple structure so it is easy to execute. Also, the stability of the closed-loop system is analytically proven. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results show that the presented controller gives better performances (i.e., fast transient response, position tracking, and low swing angle) than the state feedback controller when there exist system parameter variations as well as input disturbances.
