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Adaptive control of an axially moving system

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Abstract

The objective of this paper is to move a load hanging under a very long rope from one place to another and to suppress the transverse vibrations of the load at the end of movement by adaptive control. The disturbance affecting the gantry motion is estimated and is incorporated into the control law design. The control command is given as a function of the position and velocity of the trolley, the hoisting speed, the sway angle of the rope at the gantry side, and the estimated disturbance force. The Lyapunov function taking the form of the total mechanical energy of the system is adopted to ensure the uniform stability of the closed-loop system. Through experiments, the effectiveness of the proposed control law is demonstrated.

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Author information

Authors and Affiliations

  1. School of Mechanical Engineering, Pusan National University, Busan, 609-735, Korea

    Quang Hieu Ngo

  2. Department of Cogno-Mechatronics Engineering, Pusan National University, Busan, 609-735, Korea

    Keum-Shik Hong

  3. Department of Mathematics, Pusan National University, Busan, 609-735, Korea

    Il Hyo Jung

Authors
  1. Quang Hieu Ngo
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  2. Keum-Shik Hong
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  3. Il Hyo Jung
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Corresponding author

Correspondence to Keum-Shik Hong.

Additional information

This paper was recommended for publication in revised form by Associate Editor Shuzhi Sam Ge

Quang Hieu Ngo received the B.S. degree in mechanical engineering from Ho Chi Minh City University of Technology, Vietnam, in 2002, the M.S. degree in mechatronics from Asian Institute of Technology, Thailand, in 2007. He is currently a Ph.D. candidate in the School of Mechanical Engineering, Pusan National University, Korea. His research interests include port automation, control of axially moving systems, adaptive control, and input shaping control.

Keum Shik Hong received the B.S. degree in mechanical design and production engineering from Seoul National University in 1979, the M.S. degree in ME from Columbia University in 1987, and both the M.S. degree in applied mathematics and the Ph.D. degree in ME from the University of Illinois at Urbana-Champaign in 1991. Dr. Hong serves as Editor-in-Chief of the Journal of Mechanical Science and Technology. He served as an Associate Editor for Automatica (2000–2006) and as an Editor for the International Journal of Control, Automation, and Systems (2003–2005). Dr. Hong received Fumio Harashima Mechatronics Award in 2003 and the Korean Government Presidential Award in 2007. His research interests include nonlinear systems theory, adaptive control, distributed parameter system control, robotics, and vehicle controls.

Il Hyo Jung received the B.S. degree in mathematics from Pusan National University, Korea, in 1991, the M.S. and Ph.D. degrees in applied mathematics from KAIST, Korea, in 1993 and 1997, respectively. Dr. Jung is currently Associate Professor in the Department of Mathematics, Pusan Nation University, Korea. His research interests include differential equations (ODE/PDE), stability analysis, systems theory, and optimal control problems.

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Ngo, Q.H., Hong, KS. & Jung, I.H. Adaptive control of an axially moving system. J Mech Sci Technol 23, 3071–3078 (2009). https://doi.org/10.1007/s12206-009-0912-4

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  • DOI: https://doi.org/10.1007/s12206-009-0912-4

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