Abstract
Based on Takagi-Sugeno fuzzy modeling and linear matrix inequality with decay rate, this article presents a novel anti-swing and position control scheme for overhead cranes. First, the simplified nonlinear dynamic model is proposed by adopting a virtual control variable method to reduce the number of nonlinear terms. Then, the Takagi-Sugeno fuzzy model is constructed using sector nonlinear technique, and the anti-swing and position controller of overhead crane is designed based on a linear matrix inequality with decay rate. Finally, the proposed control method is compared with the traditional Takagi-Sugeno fuzzy control method, and robustness of the system is discussed. The simulation results demonstrate that the proposed method is feasible and effective.
Highlights
Cranes belong to typical nonlinear under-actuated equipments.[1,2,3] There are numerous types of cranes,[4] such as overhead cranes, tower cranes, gantry cranes, boom cranes, and so on
The main purpose of overhead crane control is to deliver the load to the desired position accurately and reduce or eliminate the payload swing angle rapidly at the final position
(2) In order to solve the conservative problem of linear matrix inequality (LMI), the anti-swing and position controller of overhead crane is designed based on LMI with decay rate
Summary
Cranes belong to typical nonlinear under-actuated equipments.[1,2,3] There are numerous types of cranes,[4] such as overhead cranes, tower cranes, gantry cranes, boom cranes, and so on. A novel T–S fuzzy modeling and control method are proposed for the overhead crane. (1) A virtual control variable method is proposed to reduce the number of nonlinear terms in crane models. (2) In order to solve the conservative problem of linear matrix inequality (LMI), the anti-swing and position controller of overhead crane is designed based on LMI with decay rate. The T–S fuzzy model for overhead crane is constructed based on the sector nonlinear theory . 0° and 645°, and the system input matrices of linearized state space model are as follows, respectively
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