Title :
Operator assistance system of rotary crane by gain-scheduled H∞ controller with reference governor
Author :
Iwasa, Takahiro ; Terashima, Kazuhiko ; Jian, Nyioh Yong ; Noda, Yoshiyuki
Author_Institution :
Dept. of Production Syst. Eng., Toyohashi Univ. of Technol., Toyohashi, Japan
Abstract :
This paper describes control of a rotary crane for the change of rope length. The load position and its sway control is designed by using the gain-scheduled H∞ controller. Furthermore, reference governor with the maximum constrained positively invariant (CPI) set is proposed for the time-variant system to give the reference input satisfying the input constraints and sway suppression.
Keywords :
H∞ control; control system synthesis; cranes; linear matrix inequalities; motion control; position control; time-varying systems; LMI; constrained positively invariant set; gain-scheduled H∞ controller; input constraint; linear matrix inequalities; load position control; operator assistance system; reference governor; rope length change; rotary crane control; sway control design; sway suppression; time-variant system; Cranes; Force; Gain; Load modeling; Mathematical model; Switches;
Conference_Titel :
Control Applications (CCA), 2010 IEEE International Conference on
Conference_Location :
Yokohama
Print_ISBN :
978-1-4244-5362-7
Electronic_ISBN :
978-1-4244-5363-4
DOI :
10.1109/CCA.2010.5611110
