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Communication Dans Un Congrès Année : 2022

Comparison of control methods for 2D industrial cranes

Résumé

This paper aims to review and compare some methods used to control 2D overhead cranes. The properties of the controllers are categorized based on their structure, feedback type (open-loop, collocated, and noncollocated), and their stability (local, global, regulation and tracking). Subsequently, a new model is used to describe the system's behavior more accurately. The model consists of a pendulum with a large number of links attached to a cart, allowing to study global nonlinearities as well as cables' flexibility and vibration, simultaneously. The controllers are then studied by extensive numerical simulations under the regulation and tracking scenarios.
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Dates et versions

hal-03580580 , version 1 (18-02-2022)
hal-03580580 , version 2 (12-12-2022)

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Mohammad Rasool Mojallizadeh, Bernard Brogliato, Christophe Prieur. Comparison of control methods for 2D industrial cranes. CCTA 2022 - Conference on Control Technology and Applications, CCTA 2022, Aug 2022, Trieste, Italy. pp.43-48, ⟨10.1109/CCTA49430.2022.9966133⟩. ⟨hal-03580580v2⟩
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