| Title |
Anti-Swing Control Algorithm for the Automation of Overhead Crane |
| Authors |
Sang-Wook Bae ; Chul-Kyun Rho ; Yeung-Ho Bea ; Deuk-Kee Lee |
| Abstract |
In this paper, is proposed an anti-swing control algorithm for the automation of overhead crane. The algorithm consists of three parts, the FLC with compensatory FLC which is known to be useful for controlling complex nonlinear system, reference pattern generator which generates acceleration, velocity and position reference to reduce swing angle and acceleration feedback controller which feedback control errors. Especially the algorithm does not need angular sensor which detect swing angle of payload and requires high cost. By the simulation study and experiment with prototype crane, we showed the usefulness of the proposed algorithm. |