TRACKING CONTROL FOR TWO-DIMENSIONAL OVERHEAD CRANE - Feedback Linearization with Linear Observer

2011 ◽  
Keyword(s):  
Tracking Control ◽  
Feedback Linearization ◽  
Two Dimensional ◽  
Overhead Crane ◽  
Linear Observer

scholarly journals Tracking Control for an Underactuated Two-Dimensional Overhead Crane

2012 ◽  
Vol 10 (4) ◽  
Author(s):  
D.T. Liu ◽  
W.P. Guo
Keyword(s):  
Tracking Control ◽  
Degrees Of Freedom ◽  
Fuzzy Inference ◽  
Sliding Mode ◽  
Coupling Factor ◽  
Sliding Mode Controller ◽  
Two Dimensional ◽  
Overhead Crane ◽  
Swing Angle ◽  
Sliding Mode Controllers

In this paper, the tracking control problem is considered for the payload transportation with an underactuated twodimensional overhead crane. Two sliding mode controllers are designed to perform the trajectory tracking. One is proposed to control hoisting and lowering the suspended payload, and the other one is proposed to control both trolley positioning and payload swaying. Considering the second sliding mode controller is used to control two degrees of freedom (DOFs), a fuzzy inference algorithm is proposed to dynamically adjust the coupling factor between the two DOFs. The two controllers make the payload track a predefined trajectory and be safely transported as fast and accurately as possible with a small swing angle, and then place the payload at the desired position. Simulations are performed with the proposed controllers and the results show their effectiveness.

Direct Adaptive Fuzzy Moving Sliding Mode Proportional Integral Tracking Control of a Three-Dimensional Overhead Crane

2016 ◽  
Vol 138 (10) ◽  
Author(s):  
Tsung-Chih Lin ◽  
Yu-Chen Lin ◽  
Majid Moradi Zirkohi ◽  
Hsi-Chun Huang
Keyword(s):  
Tracking Control ◽  
Sliding Mode ◽  
Three Dimensional ◽  
Overhead Crane ◽  
Nonlinear Controller ◽  
Proportional Integral ◽  
Adaptive Fuzzy ◽  
Highly Nonlinear ◽  
Position Regulation ◽  
Robust Regulation

In this paper, a novel direct adaptive fuzzy moving sliding mode proportional integral (PI) tracking control of a three-dimensional (3D) overhead crane which is modeled by five highly nonlinear second-order ordinary differential equations is proposed. The fast and robust position regulation and antiswing control can be achieved based on the proposed approach. Due to universal approximation theorem, fuzzy control provides nonlinear controller, i.e., fuzzy logic controllers, to perform the unknown nonlinear control actions. Simultaneously, in order to achieve fast and robust regulation and to enhance robustness in the presence of disturbance and parameter variations, moving sliding mode control (SMC) is introduced to tradeoff between reaching phase and sliding phase. Hence, the sliding surface is moved by changing the magnitude of the slope by adaptive law and varying the intercept by tuning algorithm. Simulations performed using a scaled 3D mathematical model of the crane confirm that the proposed control scheme can keep the horizontal position of the payload invariable and suppress the swing of the payload effectively during the hoisting or lowing process.

scholarly journals Application of the Feedback Linearization in Maximum Power Point Tracking Control for Hydraulic Wind Turbine

Energies ◽  
2020 ◽  
Vol 13 (6) ◽  
pp. 1529
Author(s):  
Chao Ai ◽  
Wei Gao ◽  
Qinyu Hu ◽  
Yankang Zhang ◽  
Lijuan Chen ◽  
...  
Keyword(s):  
Wind Turbine ◽  
Tracking Control ◽  
Feedback Linearization ◽  
Maximum Power Point Tracking ◽  
Maximum Power ◽  
Control Law ◽  
Maximum Power Point ◽  
Point Tracking ◽  
Power Point Tracking ◽  
Power Point

Taking the hydraulic wind turbine as the research object, the method is studied to improve the utilization ratio of wind energy for hydraulic wind turbine, when the wind speed is lower than the rated wind speed. The hydraulic fixed displacement pump speed and generating power can be used as control output to realize the maximum power point tracking control. The characteristics of the maximum power point tracking control are analyzed for hydraulic wind turbine, and the hydraulic output power is taken as control output based on the comprehensive performance requirements. Because the hydraulic wind turbine is a strong multiplication nonlinear system, the system is globally linearized based the feedback linearization method, and the maximum power point tracking control law is obtained. The simulation and experiment results show that the system has good dynamic performance with the proposed control law. The control provides theoretical guidance for optimal power tracking control law application for hydraulic wind turbine.

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