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Proceedings Paper

Precise positioning control of overhead traveling cranes
Author(s): Weiping Li; Qingjie Tang
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Paper Abstract

The objective of this paper is to present a new control design for precisely controlling overhead traveling cranes using microprocessors. Overhead cranes are widely used in manufacturing factories and are currently controlled by human operators. Automatic control can bring a number of important benefits, but existing algorithms tend to result in steady-state positioning errors in the presence of friction. In the proposed control design, a state feedback control algorithm is used to guarantee stability, a trajectory planner used to avoid saturation, and an additional integral term is used to eliminate steady-state error. Theoretical analysis and experimental implementation on a laboratory crane verifies the effectiveness of the approach.

Paper Details

Date Published: 28 August 1995
PDF: 6 pages
Proc. SPIE 2620, International Conference on Intelligent Manufacturing, (28 August 1995); doi: 10.1117/12.217468
Show Author Affiliations
Weiping Li, Hong Kong Univ. of Science and Technology (Hong Kong)
Qingjie Tang, TRW, Inc. (United States)

Published in SPIE Proceedings Vol. 2620:
International Conference on Intelligent Manufacturing
Shuzi Yang; Ji Zhou; Cheng-Gang Li, Editor(s)

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