|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
|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||URI:||http://hdl.handle.net/11420/6018||ISBN:||978-3-033-03962-9
|Institute:||Regelungstechnik E-14||Document Type:||Chapter/Article (Proceedings)|
|Appears in Collections:||Publications without fulltext|
Show full item record
checked on Jan 22, 2022
checked on Jan 21, 2022
Add Files to Item
Note about this record
Cite this record
Items in TORE are protected by copyright, with all rights reserved, unless otherwise indicated.