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
Event2013 IEEE International Conference on Mechatronics, ICM 2013 - Vicenza, Italy
Duration: 2013 Feb 272013 Mar 1

Other

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

Fingerprint

Cranes
Feedback
Controllers
Control systems

Keywords

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

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Mechanical Engineering

Cite this

Suzuki, K., & Murakami, T. (2013). Anti-sway control of crane system by equivalent force feedback of load. In 2013 IEEE International Conference on Mechatronics, ICM 2013 (pp. 688-693). [6519125] https://doi.org/10.1109/ICMECH.2013.6519125

Anti-sway control of crane system by equivalent force feedback of load. / Suzuki, Ken; Murakami, Toshiyuki.

2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 688-693 6519125.

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

Suzuki, K & Murakami, T 2013, Anti-sway control of crane system by equivalent force feedback of load. in 2013 IEEE International Conference on Mechatronics, ICM 2013., 6519125, pp. 688-693, 2013 IEEE International Conference on Mechatronics, ICM 2013, Vicenza, Italy, 13/2/27. https://doi.org/10.1109/ICMECH.2013.6519125
Suzuki K, Murakami T. Anti-sway control of crane system by equivalent force feedback of load. In 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. p. 688-693. 6519125 https://doi.org/10.1109/ICMECH.2013.6519125
Suzuki, Ken ; Murakami, Toshiyuki. / Anti-sway control of crane system by equivalent force feedback of load. 2013 IEEE International Conference on Mechatronics, ICM 2013. 2013. pp. 688-693
@inproceedings{1de43e8c6e6e4f80811004953daa16ac,
title = "Anti-sway control of crane system by equivalent force feedback of load",
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.",
keywords = "Anti-sway control, Assist-control, Crane system, Lyapunov based control, Underactuated system",
author = "Ken Suzuki and Toshiyuki Murakami",
year = "2013",
doi = "10.1109/ICMECH.2013.6519125",
language = "English",
isbn = "9781467313889",
pages = "688--693",
booktitle = "2013 IEEE International Conference on Mechatronics, ICM 2013",

}

TY - GEN

T1 - Anti-sway control of crane system by equivalent force feedback of load

AU - Suzuki, Ken

AU - Murakami, Toshiyuki

PY - 2013

Y1 - 2013

N2 - 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.

AB - 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.

KW - Anti-sway control

KW - Assist-control

KW - Crane system

KW - Lyapunov based control

KW - Underactuated system

UR - http://www.scopus.com/inward/record.url?scp=84879335682&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=84879335682&partnerID=8YFLogxK

U2 - 10.1109/ICMECH.2013.6519125

DO - 10.1109/ICMECH.2013.6519125

M3 - Conference contribution

AN - SCOPUS:84879335682

SN - 9781467313889

SP - 688

EP - 693

BT - 2013 IEEE International Conference on Mechatronics, ICM 2013

ER -