Nonlinear Control of a Gantry Crane System with Limited Payload Angle

International Journal of Electrical and Electronics Engineering

© 2018 by SSRG - IJEEE Journal

Volume 5 Issue 8

Year of Publication : 2018

Authors : Nguyen Huu Hai, Nguyen Dang Toan, Nguyen Ba Kha, Mai The Thang and Tran Thi Hong Tham

10.14445/23488379/IJEEE-V5I8P102

How to Cite?

Nguyen Huu Hai, Nguyen Dang Toan, Nguyen Ba Kha, Mai The Thang and Tran Thi Hong Tham, "Nonlinear Control of a Gantry Crane System with Limited Payload Angle," SSRG International Journal of Electrical and Electronics Engineering, vol. 5,  no. 8, pp. 6-10, 2018. Crossref, https://doi.org/10.14445/23488379/IJEEE-V5I8P102

Abstract:

The paper deals with tracking and vibration suppression problem of a gantry system. Based on flatness property of the gantry, a controller that ensures zero tracking error of the payload and minimizes payload fluctuation is designed. In addition, a PI controller is integrated to the system to drive the payload-swinging angle to a certain range. Numerical simulations are also given to prove the effectiveness of the proposed controller.

Keywords:

 Flatness control, Reference generation, Gantry crane, PI control.

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