This paper addresses the automation problem of overhead cranes. A feedback control strategy is proposed so that the crane travel and hoisting or lowering motions are forced to track a given reference trajectory while killing the payload swing angle. Stability analysis is carried out using Lyapunov functions and it is shown that the equilibrium point of the crane system is asymptotically stable.
Reference Trajectory Tracking of Overhead Cranes
Contributed by the Dynamic Systems and Control Division of THE AMERICAN SOCIETY OF MECHANICAL ENGINEERS. Manuscript received by the Dynamics Systems and Control Division March 4, 1998. Associate Editor: E. Misawa.
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Moustafa , K. A. F. (March 4, 1998). "Reference Trajectory Tracking of Overhead Cranes ." ASME. J. Dyn. Sys., Meas., Control. March 2001; 123(1): 139–141. https://doi.org/10.1115/1.1343462
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