TRACKING CONTROL FOR TWO-DIMENSIONAL OVERHEAD CRANE - Feedback Linearization with Linear Observer

Tamás Rózsa, Bálint Kiss

Abstract

A possible way to control non-linear systems is the use of exact linearization and the application of a tracking controller to ensure exponential decay of the error along the reference trajectory. In case of overhead cranes, it can be used if the load coordinates (or alternatively the rope angles) are known which is not the case in real applications, where the motor axis displacements are usually measured. This paper applies the linearization techniques such that the calculations of unmeasured states are realized with an observer, which is constructed for the linear approximation of the dynamics along the reference trajectory. Simulation results are provided to prove the applicability of the concept.

References

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Paper Citation


in Harvard Style

Rózsa T. and Kiss B. (2011). TRACKING CONTROL FOR TWO-DIMENSIONAL OVERHEAD CRANE - Feedback Linearization with Linear Observer . In Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO, ISBN 978-989-8425-74-4, pages 427-432. DOI: 10.5220/0003539604270432


in Bibtex Style

@conference{icinco11,
author={Tamás Rózsa and Bálint Kiss},
title={TRACKING CONTROL FOR TWO-DIMENSIONAL OVERHEAD CRANE - Feedback Linearization with Linear Observer},
booktitle={Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,},
year={2011},
pages={427-432},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0003539604270432},
isbn={978-989-8425-74-4},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 8th International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO,
TI - TRACKING CONTROL FOR TWO-DIMENSIONAL OVERHEAD CRANE - Feedback Linearization with Linear Observer
SN - 978-989-8425-74-4
AU - Rózsa T.
AU - Kiss B.
PY - 2011
SP - 427
EP - 432
DO - 10.5220/0003539604270432