Using an Utkin Observer Based Controller for a Trajectory Tracking of an Overhead Crane System


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Abstract


This paper presents a new methodological approach to design an Utkin observer-controller for an overhead crane system; first a nonlinear model is given and then linearized. A sliding mode observer is designed to reconstruct the state vector using only the measurement of the displacement of the crane, finally a control law is constructed to realize a trajectory tracking. The proposed scheme guarantees the stability of the closed-loop system. All the simulations are done using Matlab/Simulink.
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Keywords


Utkin Observer; Crane System; Ackermann’s Method; Pole Placement; Sliding Mode Control

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References


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