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Dynamic Modeling and Anti-swing Control of Double Pendulum Payload System of Overhead Crane

Liu, Zizheng; Wang, Shenghai; Chen, Haiquan; Li, Guoyuan; Zhang, Houxiang
Chapter
Accepted version
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ICCA2022_postprint.pdf (920.3Kb)
URI
https://hdl.handle.net/11250/3050573
Date
2022
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  • Institutt for havromsoperasjoner og byggteknikk [1086]
  • Publikasjoner fra CRIStin - NTNU [41881]
Original version
10.1109/ICCA54724.2022.9831849
Abstract
In this paper, an anti-swing controller for a double pendulum payload system is proposed using the method of backstepping based on dynamic models. Lagrange equations are used to derive the dynamic equations of the overhead crane payload system in a 2-dimensional plane, which provides an elegant clean form for developing the controller. The anti-swing control system, as well as the simulations, is implemented in real-time via the software tool MATLAB/Simulink. The results prove that the proposed controller can effectively help the system eliminate the induced swing of the payload system in a short period.
Publisher
IEEE
Copyright
© IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.

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