A GAIN-SCHEDULING APPROACH FOR ADAPTIVE CRANE SYSTEM CONTROL
DOI:
https://doi.org/10.24867/05BE31BuljevicKeywords:
3D crane, adaptive controller, GSAbstract
The main purpose of this paper is designing adaptive controller for controlling 3D Crane system. This controller has a task to control a position of this crane providing that the payload on the crane makes as smaller as possible oscillations. The payload is hanging on pendulum which length can be changed and due to this fact it is necessary to implement adaptive controller. Adaptive algorithm that was used in this paper is called gain-scheduling (GS). Following controllers are implemented: linear state-space controller, linear output feedback controller and linear output feedback controller with integral component, and after that their responses are compared.
References
[1] X. Wu and X.He, “Partial feedback linearization control for 3-D under actuated overhead crane systems”, ISATransactions,65,361–370., 2016.
[2] S.Y.S. Hussein and R. Ghazali and H.I. Jaafar, and C.C. Soon, “Analysis of 3D gantry crane system by pid and vsc for positioning trolley and oscillation reduction”, Journal of Telecommunication, Electronic and Computer Engineering,8(7),139–143, 2016.
[3] 3D Crane User’s Manual. http://control.put.poznan.pl/old/sites/default/files/3DCrane.pdf (приступљено у августу 2019.)
[4] Rudolph Emil Kalman, “A new approach to linear filtering and prediction problems”, Transactions of the ASME–Journal of Basic Engineering, 82(Series D):35–45, 1960.
[5] Мирна Капетина, “Aдаптивна естимација параметара система описаних ирационалним функцијама преноса”, http://www.ftn.uns.ac.rs/n1579068189/disertacija (приступљено у августу 2019.)
[6] D.J.Leith, W.E.Leithead, “Gain-scheduled controller design: an analytic framework directly incorporating non-equilibrium plant dynamics”, https://pdfs.semanticscholar.org/7d45/07472fbdc2f34e09e73769b32afa11b3c26d.pdf
[7] Милан Р. Рапаић, Зоран Д. Јеличић., “Пројектовање линеарних регулатора и естиматора у простору стања”, Факултет техничких наука, Нови Сад, 2014.
[2] S.Y.S. Hussein and R. Ghazali and H.I. Jaafar, and C.C. Soon, “Analysis of 3D gantry crane system by pid and vsc for positioning trolley and oscillation reduction”, Journal of Telecommunication, Electronic and Computer Engineering,8(7),139–143, 2016.
[3] 3D Crane User’s Manual. http://control.put.poznan.pl/old/sites/default/files/3DCrane.pdf (приступљено у августу 2019.)
[4] Rudolph Emil Kalman, “A new approach to linear filtering and prediction problems”, Transactions of the ASME–Journal of Basic Engineering, 82(Series D):35–45, 1960.
[5] Мирна Капетина, “Aдаптивна естимација параметара система описаних ирационалним функцијама преноса”, http://www.ftn.uns.ac.rs/n1579068189/disertacija (приступљено у августу 2019.)
[6] D.J.Leith, W.E.Leithead, “Gain-scheduled controller design: an analytic framework directly incorporating non-equilibrium plant dynamics”, https://pdfs.semanticscholar.org/7d45/07472fbdc2f34e09e73769b32afa11b3c26d.pdf
[7] Милан Р. Рапаић, Зоран Д. Јеличић., “Пројектовање линеарних регулатора и естиматора у простору стања”, Факултет техничких наука, Нови Сад, 2014.
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Published
2019-11-04
Issue
Section
Electrotechnical and Computer Engineering
