Control of overhead crane based on Lyapunov approach to fuzzy controller synthesis

The subject of the paper is synthesis of a robust controller of the load swing during motion of overhead cranes. The approach implements fuzzy partition to the state variables. Stability is secured by employing the Lyapunov theory. The proposed methodology is the most appropriate for the presented p...

Full description

Saved in:
Bibliographic Details
Published in2014 23rd International Conference on Robotics in Alpe-Adria-Danube Region (RAAD) pp. 1 - 6
Main Authors Sharkawy, A. B., Moustafa, Kamal A. F., El-Awady, H., Vitko, A., Babinec, A., Dekan, M.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.09.2014
Subjects
Control systems
Cranes
Fuzzy control
Fuzzy logic
Load modeling
Load Swing
Lyapunov Direct method
Lyapunov methods
Mathematical model
Overhead Cranes
Online AccessGet full text

Cover

More Information
Summary:The subject of the paper is synthesis of a robust controller of the load swing during motion of overhead cranes. The approach implements fuzzy partition to the state variables. Stability is secured by employing the Lyapunov theory. The proposed methodology is the most appropriate for the presented problem since exact knowledge about the plant parameters is not needed. Numerical tests show the feasibility of the control scheme.
DOI:10.1109/RAAD.2014.7002242