| 모델매칭 기법을 이용한 시스템 섭동을 갖는 비선형 크레인시스템 제어 |
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조현철, 이진우, 이영진, 이권순 |
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| Control of Nonlinear Crane Systems with Perturbation using Model Matching Approach |
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Hyun-Cheol Cho, Jin-Woo Lee, Young-Jin Lee, Kwon-Soon Lee |
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| Abstract |
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Crane systems are very important in industrial fields to carry heavy objects such that many investigations about control of the systems are actively conducted for enhancing its control performance. This paper presents an adaptive control approach using the model matching for a complex 3-DOF nonlinear crane system First, the system model is linearized through feedback linearization method and then PD control is applied in the approximated model. This linear model is considered as nominal to derive corrective control law for a perturbed crane model using Lyapunov theory. This corrective control is primitively aimed to compensate real-time control deviation due to partially known perturbation. We additionally study stability analysis of the crane control system using Lyapunov perturbation theory. Evaluation of our control approach is numerically carried out through computer simulation and its superiority is demonstrated comparing with the classical control. |
| Key Words:
Model matching;Crane systems;System pertubation;Feedback linearization;Lyapunov theory |
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