컨테이너 크레인의 되먹임 선형화제어
Feedback Linearization of Container Cranes
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Abstract
In this paper, a feedback linearizing anti-sway control law,using a 2-D model for container cranes,is investigated. The equations of motion are first derived from Lagrange's equation. Then, by substituting the sway dynamics into the trolley dynamics, a reduction of variables from three (trolley, hoist, sway) to two (trolley, hoist) is pursued. The anti-sway control law is designed based on the Lyapunov stability theorem. The proposed control law guarantees the uniform asymptotic stability of the closed-loop system. The simulation results of the derived control law, using MATLAB/Simulink, are compared with those of the sliding mode control law, noted in previous literature. Also, experimental results using a 3-D pilot crane are provided.
참고문헌 (19)
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