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
T3 - 2013 IEEE International Conference on Mechatronics, ICM 2013
SP - 688
EP - 693
BT - 2013 IEEE International Conference on Mechatronics, ICM 2013
T2 - 2013 IEEE International Conference on Mechatronics, ICM 2013
Y2 - 27 February 2013 through 1 March 2013
ER -