Title :
Optimal delayed control for an overhead crane
Author :
Vazquez, Carlos ; Collado, Joaquin
Author_Institution :
Dept. of Autom. Control, CINVESTAV-IPN, Mexico City, Mexico
Abstract :
This note studies a delayed control approach (open and closed loop) in order to attenuate the oscillations of a three degrees of freedom (3DOF) overhead crane system. The proposed control schemes have the capability of attenuate the oscillations during the travel phase and eliminated them at the end point. Both control schemes give us simple expressions for the optimal control parameters. We compared our results with numerical simulations and performed experiments over a laboratory overhead crane.
Keywords :
closed loop systems; cranes; delay systems; open loop systems; optimal control; closed loop control; open loop control; optimal delayed control; oscillation; overhead crane system; Automatic control; Control systems; Cranes; Delay; Equations; Feedback control; Laboratories; Open loop systems; Optimal control; Stability; Overhead crane; delayed control; open-loop control; underactuated mechanical system;
Conference_Titel :
Electrical Engineering, Computing Science and Automatic Control,CCE,2009 6th International Conference on
Conference_Location :
Toluca
Print_ISBN :
978-1-4244-4688-9
Electronic_ISBN :
978-1-4244-4689-6
DOI :
10.1109/ICEEE.2009.5393451
