Anti-Sway Control of a Gantry Crane with LMI Based Robust Pole Placement: Experimental Verification for Acceleration Control Approach

Anti-Sway Control of a Gantry Crane with LMI Based Robust Pole Placement: Experimental Verification for Acceleration Control Approach

In this study, anti-sway control of an experimental overhead crane system is proposed with acceleration control approach. In this approach, acceleration of the cart is considered as control input. In order to satisfy transient performance objectives in the presence of parameter variations, a robust...

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Bibliographic Details
Published in:2018 6th International Conference on Control Engineering & Information Technology (CEIT) pp. 1 - 6
Main Authors: Aktas, Ayhan, Bruggeman, Koert, Yazici, Hakan, Sever, Mert
Format: Conference Proceeding
Language:English
Published: IEEE 01-10-2018
Subjects:
Acceleration
Cranes
Mathematical model
Payloads
State feedback
Symmetric matrices
Online Access:Get full text
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Summary:In this study, anti-sway control of an experimental overhead crane system is proposed with acceleration control approach. In this approach, acceleration of the cart is considered as control input. In order to satisfy transient performance objectives in the presence of parameter variations, a robust pole placement controller is designed. The parameter variations are modelled with a linear polytopic model. Hence, controller design is formualted as a convex optimization problem under linear matrix inequalities (LMIs) constraints. LMI regions are employed to restrict closed-loop pole locations in prescribed convex domains in complex plane. Performance of the proposed control has been verified in both simulation and experimental studies.
DOI:10.1109/CEIT.2018.8751871