Please use this identifier to cite or link to this item: https://dspace.ctu.edu.vn/jspui/handle/123456789/5162
Title: Anti-Sway Control of Container Cranes in the Presence of Friction
Authors: Ngô, Quang Hiếu
Trần, Trung Tính
Hong, Keum-Shik
Keywords: Anti-Sway Control
Friction Estimation
Recursive Least Squares Method
Issue Date: 2012
Series/Report no.: International Journal of Innovative Management, Information and Production;3 .- p.7-14
Abstract: In this paper, an anti-sway control scheme for a container crane that is used for vessel-to-truck and truck-to-vessel loading and unloading of containers at a container terminal is investigated. The control objectives are to move a container to a desired position and to suppress its transverse vibration produced by trolley motion in the presence of the friction force and the control input saturation. In this study, friction coefficients are estimated using the recursive least squares (RLS) method, and are incorporated into a nonlinear control law. The designed control input for control of the trolley motion is modified to satisfy the saturation condition of the actuator (electrical motor). The nonlinear control law guarantees the asymptotical stability of the closed-loop system. Simulation results verify the efficiency of the proposed algorithm.
URI: http://localhost:8080//jspui/handle/123456789/5162
ISSN: 2185-5455
Appears in Collections:Tạp chí quốc tế

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