Anti-sway control of crane system by equivalent force feedback of load

Ken Suzuki, Toshiyuki Murakami

Research output: Chapter in Book/Report/Conference proceedingConference contribution

1 Citation (Scopus)

Abstract

In this paper, assist-control of crane system for human operator is considered. The objective of this paper is to achieve easy operating with less sway. In previous work, it is proved that force feedback is effective to operate crane system. To improve the previous work, force feedback system with Lyapunov based controller is proposed. The effectiveness of Lyapunov based controller was proved in automatic control. Assisted force is inserted in the master system, therefore operator can feel how to control master system to reduce oscillation. Experimental results shows that better design of the automatic anti-sway control improve human-machine interaction.

Original languageEnglish
Title of host publication2013 IEEE International Conference on Mechatronics, ICM 2013
Pages688-693
Number of pages6
DOIs
Publication statusPublished - 2013 Jul 1
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Publication series

Name2013 IEEE International Conference on Mechatronics, ICM 2013

Other

Other2013 IEEE International Conference on Mechatronics, ICM 2013
CountryItaly
CityVicenza
Period13/2/2713/3/1

Keywords

  • Anti-sway control
  • Assist-control
  • Crane system
  • Lyapunov based control
  • Underactuated system

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

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