scholarly journals Design of the state feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type overhead cranes with time-varying hoisting rope length

2020 ◽  
Vol 0 (0) ◽  
Author(s):  
Robert Vrabel
Keyword(s):  
State Feedback ◽  
Structural Parameters ◽  
Substantial Reduction ◽  
Double Pendulum ◽  
Time Varying ◽  
Feed Forward ◽  
Type D ◽  
First Case ◽  
Feed Forward Controller ◽  
Lagrange Formalism

Abstract In this paper we focus our attention on the design of the feedback-based feed-forward controller asymptotically stabilizing the double-pendulum-type (D-P-T) crane system with the time-varying rope length in the desired end position of payload (the origin of the coordinate system). In principle, two cases are considered, in the first case, the sway angle of payload is uncontrolled and second case, when the sway angle of payload is controlled by an external force. Precise mathematical modeling in the framework of Lagrange formalism without the traditional neglect of the important structural parameters of the D-P-T crane system and numerical simulation in the Matlab environment indicate the substantial reduction of the transportation time to the desired end position.

scholarly journals Model-based feed-forward control for time-varying systems with an example for SRF cavities

2020 ◽  
Vol 53 (2) ◽  
pp. 1331-1336
Author(s):  
Sven Pfeiffer ◽  
Annika Eichler ◽  
Holger Schlarb
Keyword(s):  
Time Varying ◽  
Feed Forward ◽  
Feed Forward Control ◽  
Model Based ◽  
Time Varying Systems ◽  
Srf Cavities

Adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations

2020 ◽  
pp. 014233122097417
Author(s):  
Qinghui Du
Keyword(s):  
State Feedback ◽  
Nonholonomic Systems ◽  
Feedback Stabilization ◽  
Feedback Controller ◽  
Input State ◽  
Time Varying ◽  
Initial State ◽  
State Feedback Controller ◽  
Time Varying Delay ◽  
Varying Delay

The problem of adaptive state-feedback stabilization of stochastic nonholonomic systems with an unknown time-varying delay and perturbations is studied in this paper. Without imposing any assumptions on the time-varying delay, an adaptive state-feedback controller is skillfully designed by using the input-state scaling technique and an adaptive backstepping control approach. Then, by adopting the switching strategy to eliminate the phenomenon of uncontrollability, the proposed adaptive state-feedback controller can guarantee that the closed-loop system has an almost surely unique solution for any initial state, and the equilibrium of interest is globally asymptotically stable in probability. Finally, the simulation example shows the effectiveness of the proposed scheme.

The Swing Control of Cranes with Variable Rope Length Based on Linear Time Varying System Theory

2012 ◽  
Vol 461 ◽  
pp. 763-767
Author(s):  
Li Fu Wang ◽  
Zhi Kong ◽  
Xin Gang Wang ◽  
Zhao Xia Wu
Keyword(s):  
State Feedback ◽  
Closed Loop ◽  
Linear Time ◽  
Feedback Stabilization ◽  
Time Varying ◽  
Closed Loop System ◽  
Overhead Cranes ◽  
Time Varying Systems ◽  
Time Invariant ◽  
Time Invariant System

In this paper, following the state-feedback stabilization for time-varying systems proposed by Wolovich, a controller is designed for the overhead cranes with a linearized parameter-varying model. The resulting closed-loop system is equivalent, via a Lyapunov transformation, to a stable time-invariant system of assigned eigenvalues. The simulation results show the validity of this method.

Active Control of Fabricating Nanofibrous Wavy/Helical Arrays Using Near-Field Electrospinning

2018 ◽  
Author(s):  
Xiangyu You ◽  
Ping Guo
Keyword(s):  
Active Control ◽  
Process Parameters ◽  
Electric Field Distribution ◽  
Structural Parameters ◽  
Near Field ◽  
Stretchable Electronics ◽  
Time Varying ◽  
Photovoltaic Devices ◽  
Feature Size ◽  
Experimental Process

A novel and simple near-field electrospinning (NFES) method has been developed to fabricate wavy or helical nanofibrous arrays. By alternating the electrostatic signals applied on auxiliary-electrodes (AE), the structural parameters of deposited patterns can be actively controlled. Compared with the traditional electrospinning methods based on the bending and buckling effects or collector movement, the proposed method shows advantages in the controllability, accuracy, and minimal feature size. Forces operating on the electrospinning jet and the time-varying electric field distribution were analyzed to explain the kinematics of the jet. Nanoscale wavy and helical patterns with various structural parameters were fabricated. The effects of experimental process parameters on structural parameters of deposited patterns were analyzed to demonstrate the controllability of our method in fabricating wavy or helical nanofibrous structures. It is envisioned that this method will benefit the applications in the field of photovoltaic devices, sensors, transducers, resonators, and stretchable electronics.

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