An LMI-Based Simple Robust Control for Load Sway Rejection of Rotary Cranes with Double-Pendulum Effect

In the double-pendulum rotary crane case, the load sway properties become more complicated so that the difficulty of design and analysis of crane control system is increased. Moreover, the change of rope length not only affects the stability of the system, but also leads to the decline of control performance. In order to solve the foregoing problems, a simple model for controller design is obtained by linearizing and decoupling the complex nonlinear model of rotary crane. Then, a linear feedback controller which can furnish robust performance is presented. Finally, numerical simulations verify the effectiveness of the proposed method by comparing with a traditional approach.

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Novel robust controller design for load sway reduction in double-pendulum overhead cranes

Proceedings of the Institution of Mechanical Engineers Part C Journal of Mechanical Engineering Science ◽

10.1177/0954406218813383 ◽

2018 ◽

Vol 233 (12) ◽

pp. 4359-4371 ◽

Cited By ~ 13

Author(s):

Huimin Ouyang ◽

Xin Deng ◽

Huan Xi ◽

Jinxin Hu ◽

Guangming Zhang ◽

...

Keyword(s):

Controller Design ◽

Dynamic Performance ◽

Optimization Method ◽

Linear Matrix ◽

Double Pendulum ◽

Control Performance ◽

Mass Property ◽

Length Changes ◽

The Stability ◽

Dynamic Performance Analysis

It is seen that when the hook mass is larger than the load mass or the load has distributed mass property, the load sway of the crane system presents as double-pendulum effect. In this situation, crane system has two different natural frequencies so that the sway characteristic becomes more complex and greatly increases the difficulty of the dynamic performance analysis and controller design. Moreover, the rope length changes significantly affect the stability and control performance of the crane system. In order to solve the aforementioned problems, the linear dynamics of a two-dimensional overhead crane with double-pendulum effect is derived based on a disturbance observer, and is decoupled for controller design by modal analysis. Next, a state feedback controller is presented to achieve robust control performance for a given range of rope length changes. The controller gains are obtained via linear matrix inequality optimization method. Finally, numerical simulations and experimental results validate that the proposed method has superior control performance.

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Robust Controllers for Pulse-Width-Modulated D.C./D.C. Converters Using Internal-Model-Control Design

Proceedings of the Institution of Mechanical Engineers Part I Journal of Systems and Control Engineering ◽

10.1243/pime_proc_1993_207_331_02 ◽

1993 ◽

Vol 207 (3) ◽

pp. 127-134 ◽

Cited By ~ 1

Author(s):

D Garabandić ◽

T Petrović

Keyword(s):

Model Uncertainty ◽

Pulse Width ◽

Internal Model ◽

Controller Design ◽

Optimization Method ◽

Internal Model Control ◽

Linear Feedback ◽

Pulse Width Modulated ◽

Linear Feedback Controller ◽

Model Control

A linear feedback controller for pulse-width-modulated d.c./d.c. regulator is designed using a frequency domain optimization method based on internal-model-control theory. This method aims to produce suboptimal low-order controllers which are ‘robust’, in the sense that the closed-loop system is guaranteed to meet stability objectives in the presence of model uncertainty. The small-signal model of a d.c./d.c. converter is used for the controller design. The model uncertainty description derived here is based on experiments and non-linear modelling. The result of the synthesis is a family of controllers, and each member of this family satisfies the robust control objectives. All controllers have a multi-loop structure including two feedback loops and one feedforward loop. A detailed design of the controller, including experimental results, is presented.

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Three-Stage Feedback Controller Design With Applications to a Three Time-Scale System

Volume 1: Advances in Control Design Methods, Nonlinear and Optimal Control, Robotics, and Wind Energy Systems; Aerospace Applications; Assistive and Rehabilitation Robotics; Assistive Robotics; Battery and Oil and Gas Systems; Bioengineering Applications; Biomedical and Neural Systems Modeling, Diagnostics and Healthcare; Control and Monitoring of Vibratory Systems; Diagnostics and Detection; Energy Harvesting; Estimation and Identification; Fuel Cells/Energy Storage; Intelligent Transportation ◽

10.1115/dscc2016-9806 ◽

2016 ◽

Author(s):

Verica Radisavljevic-Gajic ◽

Milos Milanovic

Keyword(s):

Time Scale ◽

Controller Design ◽

Feedback Controller ◽

Linear Feedback ◽

Feedback Controllers ◽

Linear Feedback Controller ◽

Full State ◽

Full State Feedback ◽

A New Technique ◽

Natural Decomposition

A new technique was presented that facilitates design of independent full-state feedback controllers at the subsystem levels. Different types of local controllers, for example, eigenvalue assignment, robust, optimal (in some sense L1, H2, H∞, ...) may be used to control different subsystems. This feature has not been available for any known linear feedback controller design. In the second part of the paper, we specialize the results obtained to the three time-scale linear systems (singularly perturbed control systems) that have natural decomposition into slow, fast, and very fast subsystems. The proposed technique eliminates numerical ill-condition of the original three-time scale problems.

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The Vehicles ESP Test System Based on Active Braking Control

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.588-589.1552 ◽

2012 ◽

Vol 588-589 ◽

pp. 1552-1559

Author(s):

Lu Zhang ◽

Guo Ye Wang ◽

Guo Yan Chen ◽

Zhong Fu Zhang

Keyword(s):

Control System ◽

Test System ◽

Stability Control ◽

Control Test ◽

Control Performance ◽

Vehicle System ◽

Braking Control ◽

Set Up ◽

The Stability ◽

Driving Stability

This paper proposes an active braking control dynamical system in order to establish a safe and efficient vehicle driving stability control test system. Aiming at Chery A3 sedan, set up the active braking control dynamic simulation system base on MATLAB/Simulink. Adopting the brake driving integration ESP control strategy, analyze and verify the stability control performance of independent vehicle system and vehicle ESP test system based on active braking control respectively in under steering and excessive steering two test conditions. The analyzing results indicate that the test system based on active braking control can effectively assist vehicle travelling in the absence of ESP control or ESP control system failure; when vehicle has ESP control system, the driving stability control performance of this system and independent vehicle system has remarkable consistency. The active braking control system provides a basis for research of vehicle driving stability control test.

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Modeling and stabilization of eccentric gravity machinery

Advances in Mechanical Engineering ◽

10.1177/1687814017751782 ◽

2018 ◽

Vol 10 (1) ◽

pp. 168781401775178

Author(s):

Wu-Sung Yao

Keyword(s):

Control System ◽

Digital Signal Processor ◽

Repetitive Control ◽

Electric Energy ◽

Digital Signal ◽

Control Performance ◽

Velocity Control ◽

Stability Performance ◽

The Stability ◽

And Control

In general, eccentric gravity machinery is a rotation mechanism with eccentric pendulum mechanism, which can be used to convert continuously kinetic energy generated by gravity energy to electric energy. However, a stable rotated velocity of the eccentric gravity machinery is difficult to be achieved only using gravity energy. In this article, a stable velocity control system applied to eccentric gravity machinery is proposed. The dynamic characteristic of eccentric gravity machinery is analyzed and its mathematical model is established, which is used to design the controller. A stable running velocity of the eccentric gravity machinery can be operated by the controlled servomotor. Due to disturbances being periodic, repetitive controller is installed to velocity control loop. The stability performance and control performance of the repetitive control system are discussed. The iterative algorithm of the repetitive control is executed by a digital signal processor TI TMS320C32 floating-point processor. Simulated and experimental results are reported to verify the performance of the proposed eccentric gravity machinery control system.

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Optimal Linear Feedback Control for a Class of Nonlinear Nonquadratic Non-Gaussian Problems

Journal of Dynamic Systems Measurement and Control ◽

10.1115/1.2896459 ◽

1991 ◽

Vol 113 (4) ◽

pp. 568-574 ◽

Cited By ~ 3

Author(s):

R. J. Chang

Keyword(s):

Control System ◽

Stochastic Systems ◽

Feedback Controller ◽

Performance Criteria ◽

Linear Feedback ◽

Feedback Gain ◽

Linear Feedback Controller ◽

Gaussian Method ◽

Optimal Linear ◽

Non Gaussian

An optimal linear feedback controller designed for a class of nonlinear stochastic systems with nonquadratic performance criteria by a non-Gaussian approach is presented. The non-Gaussian method is developed through expressing the unknown stationary output density function as a weighted sum of the Gaussian densities with undetermined parameters. With the aid of a Gaussian-sum density, the optimal feedback gain for a control system with complete state information is derived. By assuming that the separation principle is valid for the class of stochastic systems, a nonlinear precomputed-gain filter is then implemented. The method is illustrated by a Duffing-type control system and the performance of a linear feedback controller designed through both quadratic and nonquadratic performance indices is compared.

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Leader Follower Formation Control for Underwater Transportation Using Multiple Autonomous Underwater Vehicles

The International Journal of Maritime Engineering ◽

10.5750/ijme.v163ia3.800 ◽

2021 ◽

Vol 163 (A3) ◽

Author(s):

F U Rehman ◽

E Anderlini ◽

G Thomas

Keyword(s):

Formation Control ◽

Autonomous Underwater Vehicles ◽

Underwater Vehicles ◽

Linear Feedback ◽

Pid Controllers ◽

Technical Requirements ◽

Linear Feedback Controller ◽

Full State ◽

The Stability ◽

The Military

The successful ability to conduct underwater transportation using multiple autonomous underwater vehicles (AUVs) is important for the commercial sector to undertake precise underwater installations on large modules, whilst for the military sector it has the added advantage of improved secrecy for clandestine operations. The technical requirements are the stability of the payload and internal collision avoidance while keeping track of the desired trajectory considering the underwater effects. Here, a leader-follower formation control strategy was developed and implemented on the transportation system of AUVs. PID controllers were used for the vehicles and a linear feedback controller for maintaining the formation. A Kalman Filter (KF) was designed to estimate the full state of the leader under disturbance, noise and limited sensor readings. The results demonstrate that though the technical requirements are met, the thrust oscillations under disturbance and noise produce the undesired heading angles.

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LQG-Based Robustifying Flight Control System

Dynamic Systems and Control, Volumes 1 and 2 ◽

10.1115/imece2003-43596 ◽

2003 ◽

Author(s):

D. Griffin ◽

A. G. Kelkar

Keyword(s):

Control System ◽

Flight Control ◽

Controller Design ◽

Second Step ◽

Flight Control System ◽

Robust Controller ◽

Fighter Aircraft ◽

Stability Robustness ◽

Uncertainty Model ◽

The Stability

This paper presents a robust controller design for an automatic flight control system (AFCS) for a fighter aircraft model with eight inputs and seven outputs. The controller is designed based on McFarlane-Glover robustifying technique using a simple baseline LQG design. Controllers designed purely based on traditional LQG techniques are known to have no guaranteed robustness margins. The McFarlane-Glover technique can be used to enhance the stability robustness of the baseline LQG design using a two-step design process. In the first step, an LQG controller is designed which is optimized only for performance without any consideration to robustness. In the second step, the performance optimized LQG design is rendered robust using McFarlane-Glover procedure. The robustifying procedure uses a coprime factor uncertainty model and H∞ optimization. An important advantage of this procedure is that no problem dependent uncertainty modelling or weight selection is required in the second step of the process. The robustifying procedure also yields the quantitative estimate of the robustness.

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Boom motion trajectory generation approach for load sway rejection in rotary cranes considering double-pendulum effect

Measurement and Control ◽

10.1177/0020294020944964 ◽

2020 ◽

pp. 002029402094496

Author(s):

Huimin Ouyang ◽

Xiang Xu ◽

Guangming Zhang

Keyword(s):

Simple Structure ◽

Double Pendulum ◽

Motion Trajectory ◽

Robust Performance ◽

Excellent Performance ◽

Simulation Data ◽

Barbalat’S Lemma ◽

Rotary Crane ◽

Control Research ◽

Invariance Theorem

In the control research on the rotary crane systems with double-pendulum effect, a motion trajectory with both simple structure and excellent robust performance is proposed to achieve the positioning of the boom and the suppression of the load sway. The presented trajectory consists of an anti-swing component and a boom positioning component, where the first part is used to achieve the sway angle elimination without affecting boom positioning; the second one is used to move the boom to the desired location precisely. The Lyapunov technique, LaSalle’s invariance theorem, and Barbalat’s lemma are used to prove the excellent performance of the method. Eventually, the effectiveness of the proposed method was verified through a large amount of simulation data analysis.

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