Verification using Experimental Device on An Ideal-Input Model Reference Approach for Anti-Sway and Position Control

摘要

In present paper, an ideal-input model reference adaptive control scheme for anti-sway and position control with some kinds of pendulum (rope) length in a reference model of an overhead traveling crane has been proposed and verified by various simulated experiments. Moreover, the system has also a robust property for load changes by a gain scheduling on the three parameters of the PID controller included in the system. Some results of effectiveness verification experiments for pendulum length change and weight change were satisfactory on anti-sway and position control at the same time.