Automatic Control and Health Monitoring of a 3-Dimentional Overhead Crane with Minimally Required Sensor Devices

Minami Kumarawadu, Logeeshan Velmanickam

2024

Abstract

This paper presents a controller-observer scheme for linear position tracking control of the load of an overhead crane in the 3-D space and also investigates the possibility of actuator health monitoring with minimal sensor requirement. This way, admissible position tracking accuracy and system transient behaviour both are achieved only using position sensors. Closed-loop stability of the plant-controller-linear velocity observer system is guaranteed using Lyapunov method. A trajectory planning method is proposed based on standard exponential functions that enables defining the distance to the destination, maximum linear velocities and accelerations in the parameters of the function itself. The methods proposed are validated using computer numerical simulations in the presence of model parameter uncertainties and external disturbances. We also investigate the potential of using observer outputs to improve the early detection of actuator faults.

Paper Citation

in Harvard Style

Kumarawadu M. and Velmanickam L. (2024). Automatic Control and Health Monitoring of a 3-Dimentional Overhead Crane with Minimally Required Sensor Devices. In Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO; ISBN 978-989-758-717-7, SciTePress, pages 453-461. DOI: 10.5220/0013041200003822

in Bibtex Style

@conference{icinco24,
author={Minami Kumarawadu and Logeeshan Velmanickam},
title={Automatic Control and Health Monitoring of a 3-Dimentional Overhead Crane with Minimally Required Sensor Devices},
booktitle={Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO},
year={2024},
pages={453-461},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0013041200003822},
isbn={978-989-758-717-7},
}

in EndNote Style

TY - CONF

JO - Proceedings of the 21st International Conference on Informatics in Control, Automation and Robotics - Volume 1: ICINCO
TI - Automatic Control and Health Monitoring of a 3-Dimentional Overhead Crane with Minimally Required Sensor Devices
SN - 978-989-758-717-7
AU - Kumarawadu M.
AU - Velmanickam L.
PY - 2024
SP - 453
EP - 461
DO - 10.5220/0013041200003822
PB - SciTePress