Title :
Model reference adaptive control of a gantry crane scale model
Author :
Butler, Hans ; Honderd, Ger ; Van Amerongen, Job
Author_Institution :
Dept. of Electr. Eng., Delft Univ. of Technol., Netherlands
Abstract :
A method of reference model decomposition, an extension of model reference adaptive control, is presented. The decomposition method can be regarded as a way of including knowledge about the structure and parameters of unmodeled dynamics in the adaptive system, making it possible to choose a lower order controller which is only equipped for the nominal process part. To illustrate the decomposition method, an adaptive controller for a scale model of a gantry crane is presented. Simplifying and linearizing the mathematical equations describing the crane yields a fourth-order model, of which the dynamics of the load swing take two. A standard adaptive control algorithm needs eight parameters, which in practice yields unacceptable behavior. The decomposition method allows the use of only two adjustable parameters, and real-time experiments showing practical results obtained with the method are described.<>
Keywords :
computerised materials handling; cranes; model reference adaptive control systems; MRAC; gantry crane scale model; model reference adaptive control; reference model decomposition; unmodeled dynamics; Adaptive control; Adaptive systems; Control systems; Cranes; Equations; Flexible structures; Industrial control; Laboratories; Mathematical model; Programmable control;
Journal_Title :
Control Systems, IEEE