LPV observer design and damping control of container crane load swing

Start Page
1848
End Page
1853
Article Number
6669526
Citation
European Control Conference (ECC 2013): 1848-1853 (2013)
Contribution to Conference
European Control Conference, ECC 2013  
Publisher DOI
10.23919/ECC.2013.6669526
Scopus ID
2-s2.0-84893298785
Publisher
IEEE
ISBN of container
978-3-033-03962-9
978-1-4799-0189-0
This paper presents advances in the damping of container crane load swing via hoisting modulation based on linear parameter-varying (LPV) control techniques. We propose controllers based on constant, as well as parameter-dependent Lyapunov functions and formulate our problem in the linear fractional transformation (LFT) framework. The dynamics of a nonlinear observer are included into the generalized plant. Simulation and experimental results are compared to previous work using a polytopic LPV approach, as well as to earlier work based on the concept of resonant coupling control realized by a reduced normal form approach. The comparison indicates, that including the observer dynamics in the synthesis comes at the price of reduced performance, which is alleviated by the use of parameter-dependent Lyapunov functions. Furthermore, an a posteriori analysis verifies that the controller is robust against erroneously estimated scheduling signals and thus provides closed-loop guarantees for stability and performance for the new controller. © 2013 EUCA.
DDC Class
600: Technik
620: Ingenieurwissenschaften