Passivity-Based Control of an Overhead Travelling Crane


In this paper, a passivity-based control scheme is proposed for the two main translational axes of an overhead crane to provide an active damping of crane load oscillations. The decentralised control structure consists of independent axis controllers, which are adapted to the varying rope length using gain-scheduling techniques. The tracking capabilities concerning desired trajectories for the crane load in the xy-plane can be improved by introducing feedforward control based on an inverse system model. Furthermore, a reduced-order disturbance observer is utilised for the compensation of nonlinear friction forces. The achieved control performance is shown by selected experimental results obtained from an implementation on a 5 t-overhead travelling crane. Copyright c ©2008 IFAC

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@inproceedings{Aschemann2008PassivityBasedCO, title={Passivity-Based Control of an Overhead Travelling Crane}, author={Harald Aschemann}, year={2008} }