Abstract

An anti-sway tracking control system for an overhead crane is discussed. The control objective is the sway-free horizontal displacement of the crane's load from one to other position. Based on the nonlinear mathematical model and singular perturbation technique the cascaded control system is designed which consists of two feedback loops. In the first control loop the sway angle proportional-integral-derivative (PID) control is provided by means of the force applied to the trolley in the horizontal direction. In the second one the horizontal movement of the trolley is regulated by the tracking PID controller in accordance with the desired velocity profile. Control system design procedure based on singular perturbation technique (time-scale separation method) is highlighted. Numerical simulation results are provided.

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