計測自動制御学会 部門大会/部門学術講演会資料
第2回制御部門大会
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Backstepping法によるクレーンの制振制御
松尾 孝美東 賢一末光 治雄
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p. 75

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Crane lifters are widely used in industrial plants and rehabilitation equipment. To improve the efficiency of cargo handling with cranes, it is necessary to control the crane trolley position so that the swing of the handling load is minimized. Crane lifters have the dynamics with nonlinearities and time varying parameters. The backstepping method is powerful technique to design a nonlienar daptive controller. In this paper, a nonlinear controller for the anti-sway control of crane lifters is designed via backstepping method.
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