5. Output Feedback-Based Anti-sway Control
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Dianwei Qian
Abstract
This chapter focuses on the methodology of output feedback for the antisway control problem of double-pendulum-type overhead cranes. In practice, the angular velocities of hook and payload are unavailable in most cases. Such a practical issue calls for the output feedback-based control design. This chapter starts with some basic concepts about output feedback. Then, an output feedback-based controller is presented for double-pendulum-type overhead cranes. The stability analysis is also proven in the sense of Lyapunov. Simulation result
Abstract
This chapter focuses on the methodology of output feedback for the antisway control problem of double-pendulum-type overhead cranes. In practice, the angular velocities of hook and payload are unavailable in most cases. Such a practical issue calls for the output feedback-based control design. This chapter starts with some basic concepts about output feedback. Then, an output feedback-based controller is presented for double-pendulum-type overhead cranes. The stability analysis is also proven in the sense of Lyapunov. Simulation result
Chapters in this book
- Frontmatter I
- Preface VII
- Contents XI
- Acknowledgments XIII
- 1. Introduction 1
- 2. CraneDynamics 26
- 3. Passivity-Based Anti-sway Control 45
- 4. Sliding-Mode-Based Anti-sway Control 64
- 5. Output Feedback-Based Anti-sway Control 110
- 6. Fuzzy-Logic-Based Anti-sway Control 134
- 7. Input-Shaping-Based Anti-sway Control 158
- 8. Conclusions 189
- Appendix Software Program of Anti-sway Control Against Double-Pendulum Motions 191
- Index 221
Chapters in this book
- Frontmatter I
- Preface VII
- Contents XI
- Acknowledgments XIII
- 1. Introduction 1
- 2. CraneDynamics 26
- 3. Passivity-Based Anti-sway Control 45
- 4. Sliding-Mode-Based Anti-sway Control 64
- 5. Output Feedback-Based Anti-sway Control 110
- 6. Fuzzy-Logic-Based Anti-sway Control 134
- 7. Input-Shaping-Based Anti-sway Control 158
- 8. Conclusions 189
- Appendix Software Program of Anti-sway Control Against Double-Pendulum Motions 191
- Index 221
