Operator-based vibration control for an L-type arm of crane systems using piezoelectric actuator

In this paper, operator-based robust control system for an L-type arm vibration of crane system is investigated. Firstly, the L-type arm is divided into vertical part (arm 1) and horizontal part (arm 2), the vibration dynamics of arm 1 and arm 2 are modelled based on Euler-Bernoulli beam theory. Secondly, based on nonlinear operator control theory, a nonlinear control system is designed to suppress the vibration of arm 1 by controlling the motion of the motor, and an operator-based nonlinear control scheme is proposed to control the vibration of arm 2 by using piezoelectric actuator considering the hysteresis effect. Finally, using parameters of the real experimental system, simulation is conducted to verify the effectiveness of the proposed control scheme.