Active damping of container crane load swing by hoisting modulation &amp;#x2014; An LPV approach

Hoffmann, Christian; Radisch, Christian; Werner, Herbert

doi:10.1109/cdc.2012.6426889

Cited by 11 publications

(12 citation statements)

References 5 publications

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“…In this case, further optimizations, e.g., with respect to the spectral radius of the controller's state matrix, can be performed. From the solution for R and S, the closed-loop Lyapunov matrix X can be reconstructed algebraically, which can then be inserted into condition (11). By a further Schur argument (11) is rendered linear in the controller variables.…”

Section: B State Space-based Lpv Controller Synthesismentioning

confidence: 99%

“…From the solution for R and S, the closed-loop Lyapunov matrix X can be reconstructed algebraically, which can then be inserted into condition (11). By a further Schur argument (11) is rendered linear in the controller variables. In the following, we will distinguish the three most common approaches for turning the infinite set of LMIs into a finite set of LMIs that can be solved via semidefinite programming: 1) polytopic LPV synthesis; 2) multiplier-based LFT LPV synthesis;…”

Section: B State Space-based Lpv Controller Synthesismentioning

confidence: 99%

“…Hard nonlinearities such as stiction, hysteresis, or saturation are more difficult to handle, as well as systems with nonlinearly coupled modes. The success of controller synthesis for the latter depends on the nonunique choice of scheduling parameters [11], [12]. For the above systems, LPV controller synthesis is attractive as a straightforward extension of LTI control methodologies, such as sensitivity shaping and modeling tools.…”

Section: Introductionmentioning

confidence: 99%

See 2 more Smart Citations

A Survey of Linear Parameter-Varying Control Applications Validated by Experiments or High-Fidelity Simulations

Hoffmann

Werner

2015

IEEE Trans. Contr. Syst. Technol.

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326

190

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This paper provides a survey of results in linear parameter-varying (LPV) control that have been validated by experiments and/or high-fidelity simulations. The LPV controller synthesis techniques employed in the references of this survey are briefly reviewed and compared. The methods are classified into polytopic, linear fractional transformation, and griddingbased techniques and it is reviewed how in each of these approaches, synthesis can be carried out as a convex optimization problem via a finite number of linear matrix inequalities (LMIs) for both parameter-independent and parameter-dependent Lyapunov functions. The literature is categorized with regard to the application, the complexity induced by the controlled system's dynamic and scheduling orders, as well as the synthesis method. Exemplary cases dealing with specific control design problems are presented in more detail to point control engineers to possible approaches that have been successfully applied. Furthermore, key publications in LPV control are related to application achievements on a timeline. Index Terms-Controller synthesis, experiments, high-fidelity (hifi)-simulation, linear parameter-varying (LPV).

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Section: B State Space-based Lpv Controller Synthesismentioning

confidence: 99%

Section: B State Space-based Lpv Controller Synthesismentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Survey of Linear Parameter-Varying Control Applications Validated by Experiments or High-Fidelity Simulations

Hoffmann

Werner

2015

IEEE Trans. Contr. Syst. Technol.

Self Cite

326

190

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“…active vision systems [316], airplanes [14,314], bioreactors [185], canals [82], CD players [75], container crane load swing [128], control moment gyroscopes [1], electromagnetic actuators [102], engines [51], flexible ball screw drives [121], fuel cells [32,69], glycemic regulation [60], induction motors [233], internet web servers [234], inverted pendula [239], ionic polymer-metal composites [181], magneto-rheological dampers [294], robots [122], unmanned aerial vehicles (UAVs) [184,211], vehicle suspensions [101,231,232], wafer scanners [114], wind turbines [293] and winding machines [241]. Recently, the LPV paradigm has also been applied to time delay systems with time varying delays [44][45][46].…”

Section: Gain-scheduling: Lpv Systems and Ts Systemsmentioning

confidence: 99%

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Rotondo¹

2018

Springer Theses

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This thesis presents some contributions to the state-of-the-art of the fields of gainscheduling and fault tolerant control (FTC).In the area of gain-scheduling, the connections between the linear parameter varying (LPV) and Takagi-Sugeno (TS) paradigms are analyzed, showing that the methods for the automated generation of models by nonlinear embedding and by sector nonlinearity, developed for one class of systems, can be easily extended to deal with the other class. Then, two measures, based on the notions of overboundedness and region of attraction estimates, are proposed in order to compare different models and choose which one can be considered the best one. Later, the problem of designing state-feedback controllers for LPV systems has been considered, providing two main contributions. First, robust LPV controllers that can guarantee some desired performances when applied to uncertain LPV systems are designed, by using a double-layer polytopic description that takes into account both the variability due to the varying parameter vector and the uncertainty. Then, the idea of designing the controller in such a way that the required performances are scheduled by the varying parameters is explored, which provides an elegant way to vary online the behavior of the closed-loop system. In both cases, the problem reduces to finding a solution to a finite number of linear matrix inequalities (LMIs), which can be done efficiently using the available solvers.In the area of fault tolerant control, the thesis first shows that the aforementioned double-layer polytopic framework can be used for FTC, in such a way that different strategies (passive, active and hybrid) are obtained depending on the amount of available information. Later, an FTC strategy for LPV systems that involves a reconfigured reference model and virtual actuators is developed. It is shown that by including the saturations in the reference model equations, it is possible to design a model reference FTC system that automatically retunes the reference states whenever the system is affected by saturation nonlinearities. In this way, a graceful performance degradation in presence of actuator saturations is incorporated in an elegant way. Finally, the problem of FTC of unstable LPV systems subject to actuator saturations is considered. In this case, the design of the virtual actuator is performed in such a way that the convergence of the state trajectory to zero is assured despite the saturations and the appearance of faults. Also, it is shown that it is possible to obtain some guarantees about the tolerated delay between the fault occurrence and its isolation, and that the nominal controller can be designed so as to maximize the tolerated delay.i Resum Aquesta tesi presenta diverses contribucions a l'estat de l'art del control per planificació del guany i del control tolerant a fallades (FTC).Pel que fa al control per planificació del guany, s'analitzen les connexions entre els paradigmes dels sistemes lineals a paràmetres variants en el temps (LPV) i d...

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“…The objective when operating a crane is to move an object from one place to another avoiding collision with other objects and placing it with the best possible accuracy. However, due to the inertia on the movement of the load, the object being moved is subject to oscillation and this is a problem that must be always avoided [2], [3], [4].…”

Section: Introductionmentioning

confidence: 99%

Novel Control Method for Overhead Crane's Load Stability

Belunce

Pandolfo

Roozbahani

et al. 2015

Procedia Engineering

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Nowadays, cranes are widely employed in many fields of the industry and its utilization represents a large financial influence. The investment on cranes, for example, on docks are mainly associated with the time required for the positioning of the cargos. The objective in this experiment was to develop the control of a system to minimize the stabilization time of a load swinging due to crane movement using a controller created from a Lyapunov function. A metal structure was used with a pendulum, attached to a linear motor. After the controller was designed and implemented a series of experiments were done in varied conditions of mass and signal input. The system can be moved at high speed with the joystick and a trigger is pressed to quickly stabilize the pendulum. This, compared to the traditional methods of controlling this payload oscillation has made evident that the control method associated to the use of a joystick can reduce the loading time and also eliminate the need of a highly experienced driver operating the crane.

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Active damping of container crane load swing by hoisting modulation — An LPV approach

Cited by 11 publications

References 5 publications

A Survey of Linear Parameter-Varying Control Applications Validated by Experiments or High-Fidelity Simulations

A Survey of Linear Parameter-Varying Control Applications Validated by Experiments or High-Fidelity Simulations

Advances in Gain-Scheduling and Fault Tolerant Control Techniques

Novel Control Method for Overhead Crane's Load Stability

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