Combined Input Shaping and Feedback Control of a Double-Pendulum System Subject to External Disturbances
2015 ◽
Keyword(s):
A control system combining input shaping and feedback is applied to a double-pendulum bridge crane subjected to external disturbances. The external disturbances represent naturally occurring forces, such as gusting winds. The proposed control method achieves fast point-to-point response similar to open-loop input-shaping control. It also minimizes transient deflections and disturbance-induced residual swing using the feedback control. Effects of parameters such as the mass ratio of the double-pendulum, suspension length ratio, and the traveled distance were studied via numerical simulation and hardware experiments. The controller effectively suppresses the disturbances and is robust to modeling uncertainties and task variations.
Keyword(s):
2019 ◽
Vol 33
(12)
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pp. 5761-5768
2009 ◽
Vol 132
(1)
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2011 ◽
Vol 121-126
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pp. 2676-2680
2015 ◽
Vol 63
(4)
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pp. 887-896
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Keyword(s):
2017 ◽
Vol 2017
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pp. 1-7
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2012 ◽
Vol 349
(3)
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pp. 1283-1303
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Keyword(s):
2004 ◽
Vol 127
(3)
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pp. 329-335
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