Anti-Sway Control of the Overhead Crane System using HOSM Observer

作者：Kwon Dongwoo; Eom Myunghwan; Chwa Dongkyoung^*

来源：Journal of Electrical Engineering and Technology, 2016, 11(4): 1027-1034.

DOI：10.5370/JEET.2016.11.4.1027

• Sum of squares
• Anti-swing crane control
• Polynomial dynamic equations
• Disturbance
• HOSM Observer

This paper proposes a sum of squares (SOS) method for anti-swing control of overhead crane system using HOSM (High-Order Sliding-Mode) observer. By representing the dynamic equations of overhead crane as the polynomial dynamic equations via Taylor series expansion, the control input is obtained from the converted polynomial dynamic equations by numerical tool SOSTOOL. Since the actual crane systems include disturbance such as wind and friction, we propose a method to compensate for the disturbance by estimating the disturbance using HOSM observer. Numerical simulations show the effectiveness and the applicability of the proposed method.

• 出版日期2016-7