Modeling and control of a floating platform

Author

Damen, A.H. ; Falkus, Heinz M. ; Bouwels, Jo P H M

Author_Institution

Meas. & Control Group, Eindhoven Univ. of Technol., Netherlands

Volume

39

Issue

5

fYear

1994

fDate

5/1/1994 12:00:00 AM

Firstpage

1075

Lastpage

1078

Abstract

A platform with a rotating crane resting on three adjustable floats in a tub has been built on laboratory scale. Controller design is studied to prevent the platform from leaning due to crane movements. The system dynamics can be described primarily by a simple sixth order linear model. Model errors are then due mainly to unmodeled effects of waves that are essentially linear transfers. It is precisely under these conditions that H_∞ design should perform well. Actual design and tests show that H_∞ controllers do not substantially outperform LQG designs combined with feedforward controllers, but the combination of both feedforward and feedback controllers can easily be obtained by H_∞ design techniques

Keywords

control system analysis; cranes; feedback; identification; linear systems; multivariable control systems; optimal control; H_∞ design; LQG designs; adjustable floats; crane movements; feedback controllers; feedforward controllers; floating platform; leaning; linear transfers; rotating crane; unmodeled effects; waves; Attenuation; Control design; Control systems; Cost function; Cranes; Laboratories; Optimal control; Robust control; System testing; Uncertainty;

fLanguage

English

Journal_Title

Automatic Control, IEEE Transactions on

Publisher

ieee

ISSN

0018-9286

Type

jour

DOI

10.1109/9.284897

Filename

284897