**Robust Adaptive Control of 3D Overhead Crane System** Robust Adaptive Control of 3D Overhead Crane System

DOI: 10.5772/intechopen.72768

Nga Thi-Thuy Vu, Pham Tam Thanh, Pham Xuan Duong and Nguyen Doan Phuoc Nga Thi-Thuy Vu, Pham Tam Thanh,

Additional information is available at the end of the chapter Pham Xuan Duong and Nguyen Doan Phuoc

http://dx.doi.org/10.5772/intechopen.72768 Additional information is available at the end of the chapter

Abstract

In this chapter an adaptive anti-sway controller for uncertain overhead cranes is proposed. The system model including the system uncertainties and disturbances is introduced firstly. Next, the adaptive controller which can guarantee tracking the desired position of the trolley as well as the anti-sway of the load cable is established. In this chapter, the system is proven to be input-to-state stable (ISS) which is supported by Lyapunov technique. The proposed algorithm is verified by using Matlab/Simulink simulation tool. The simulation results shown that the presented controller gives the good performances (i.e., fast transient response, position tracking, and low swing angle) when there exist system parameters variation as well as input disturbances.

Keywords: adaptive anti-swing control, input-to-state stable (ISS), overhead crane system, robust control, stability analysis, uncertainties
