Research on Global Stability Control Strategy of Under-Actuated Crane System Based on Equivalent Input Interference

摘要

Arm to anti-swing control of underactuated crane system, a new control strategy is proposed to ensure the global stability by changing the nonlinear part into equivalent input interference. Based on homeomorphic coordinate transformation, the crane system can be modeled by the combination of linear and nonlinear model, and put forward its global stability conditions. A controller including a state observer and an equivalent input interference predictor is designed to guarantee the global stability of the crane system. The proposed control strategy can effectively avoid the impact of measure errors and noise made by speed transmitter. Simulation results show that the work efficiency of the crane system is improved by a higher positioning accuracy and anti-swing control.