Modeling and control of a rotary crane for swing-free transport of payloads

Proceedings of the 1st IEEE Conference on Control Applications, CCA 1992

Volumn , Issue , 1992, Pages 782-787

  Souissi, R ^a   Koivo, A J ^a  

^a PURDUE UNIVERSITY   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CRANES; FEEDBACK LINEARIZATION; MACHINE DESIGN; STATE FEEDBACK;

COMPUTED TORQUE METHODS; CONTROLLER DESIGNS; COUPLED EQUATION; DYNAMICAL MODEL; FEEDBACK CONTROL LAW; MODELING AND CONTROL; NONLINEAR STATE FEEDBACKS; SPECIFIED TRAJECTORIES;

CONTROLLERS;

EID: 0000378841     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/CCA.1992.269748     Document Type: Conference Paper

References (7)

1. Y. Sakawa, and A. Nakazumi, "Modeling and Control of a Rotary Crane", ASME Journal of Dynamic Systems, Measurement, and Control, Vol. 107, Sept. 1985, pp. 200-206
2. A. F. Moustapha Kamal, and A. M. Ebeid, "Nonlinear Modeling and Control of Overhead Crane Load Sway", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 110, Sept. 1988, pp. 266-271
3. G. P. Starr, "Swing Free Transport of Suspended Objects With a Path Controlled Robot Manipulator", ASME Journal of Dynamic Systems, Measurement and Control, Vol. 107, Mar. 1985, pp. 97-100
4. H. Arai and S. Tachi, "Position Control of a Manipulator with Passive Joints using Dynamic Coupling", IEEE Transactions on Robotics and Automation, Vol. 7, No. 4, Aug. 1991, pp. 528-534.
5. F. Boustany and B. d'Andrea-Novel, "Adaptive Control of an Overhead Crane using Dynamic Feedback Linearization and Estimation Design", Proc. IEEE International Conference on Robotics and Automation, Nice, France, May 1992, pp. 1963-1968.
6. th Conference on Decision and Control, Brighton, England, Dec. 1991, pp. 736-741.
7. A. J. Koivo, Fundamentals for Control of Robotic Manipulators, John Wiley & Sons, 1989.