Publisher DOI: 10.23919/ECC.2013.6669526
Title: LPV observer design and damping control of container crane load swing
Language: English
Authors: Mendez Gonzalez, Antonio 
Herzog, Christian 
Radisch, Christian 
Werner, Herbert 
Issue Date: 2013
Publisher: IEEE
Source: European Control Conference (ECC 2013): 1848-1853 (2013)
Abstract (english): 
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.
Conference: 2013 European Control Conference, ECC 2013 
ISBN: 978-3-033-03962-9
Institute: Regelungstechnik E-14 
Document Type: Chapter/Article (Proceedings)
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