Observer-based Control Design for Overhead Crane Systems

Fukiko Kawai; Jan D. Bendtsen

doi:10.1016/j.ifacol.2023.10.063

Observer-based Control Design for Overhead Crane Systems

Fukiko Kawai, Jan D. Bendtsen

Research output: Contribution to journal › Conference article in Journal › Research › peer-review

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Abstract

This paper proposes an observer-based control design with Disturbance Feedback Control (DFC) for overhead crane systems. DFC is a technique to improve the disturbance rejection capabilities of existing control loops. The crane system is modelled with 3D dynamics and linearized. Payload sway angles are estimated by a Kalman Filter. A state feedback controller for setpoint tracking and a DFC for disturbance rejection are designed using Linear Matrix Inequalities. Both simulation and experimental results show that the observer-based control with DFC can estimate the sway angle and is able to attenuate disturbance inputs better than the conventional observer-based control. The proposed design can thus achieve practical angle sensor-less control with a retro-fit modification of an existing control.

Original language	English
Book series	IFAC-PapersOnLine
Volume	56
Issue number	2
Pages (from-to)	8776-8783
Number of pages	8
ISSN	1474-6670
DOIs	https://doi.org/10.1016/j.ifacol.2023.10.063
Publication status	Published - 1 Jul 2023
Event	22nd IFAC World Congress - Yokohama, Japan Duration: 9 Jul 2023 → 14 Jul 2023

Conference

Conference	22nd IFAC World Congress
Country/Territory	Japan
City	Yokohama
Period	09/07/2023 → 14/07/2023
Sponsor	Azbil Corporation, et al., Fujita Corporation, Hitachi, Ltd., Kumagai Gumi Co., Ltd., The Society of Instrument and Control Engineers (SICE)

Bibliographical note

Publisher Copyright:
Copyright © 2023 The Authors. This is an open access article under the CC BY-NC-ND license (https://creativecommons.org/licenses/by-nc-nd/4.0/)

Keywords

Anti-Sway Control
Crane systems
Kalman Filter
Robust Control

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10.1016/j.ifacol.2023.10.063Licence: CC BY-NC-ND 4.0

Open Access articleFinal published version, 1.29 MBLicence: CC BY-NC-ND 4.0

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Cite this

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title = "Observer-based Control Design for Overhead Crane Systems",

abstract = "This paper proposes an observer-based control design with Disturbance Feedback Control (DFC) for overhead crane systems. DFC is a technique to improve the disturbance rejection capabilities of existing control loops. The crane system is modelled with 3D dynamics and linearized. Payload sway angles are estimated by a Kalman Filter. A state feedback controller for setpoint tracking and a DFC for disturbance rejection are designed using Linear Matrix Inequalities. Both simulation and experimental results show that the observer-based control with DFC can estimate the sway angle and is able to attenuate disturbance inputs better than the conventional observer-based control. The proposed design can thus achieve practical angle sensor-less control with a retro-fit modification of an existing control.",

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N2 - This paper proposes an observer-based control design with Disturbance Feedback Control (DFC) for overhead crane systems. DFC is a technique to improve the disturbance rejection capabilities of existing control loops. The crane system is modelled with 3D dynamics and linearized. Payload sway angles are estimated by a Kalman Filter. A state feedback controller for setpoint tracking and a DFC for disturbance rejection are designed using Linear Matrix Inequalities. Both simulation and experimental results show that the observer-based control with DFC can estimate the sway angle and is able to attenuate disturbance inputs better than the conventional observer-based control. The proposed design can thus achieve practical angle sensor-less control with a retro-fit modification of an existing control.

AB - This paper proposes an observer-based control design with Disturbance Feedback Control (DFC) for overhead crane systems. DFC is a technique to improve the disturbance rejection capabilities of existing control loops. The crane system is modelled with 3D dynamics and linearized. Payload sway angles are estimated by a Kalman Filter. A state feedback controller for setpoint tracking and a DFC for disturbance rejection are designed using Linear Matrix Inequalities. Both simulation and experimental results show that the observer-based control with DFC can estimate the sway angle and is able to attenuate disturbance inputs better than the conventional observer-based control. The proposed design can thus achieve practical angle sensor-less control with a retro-fit modification of an existing control.

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KW - Robust Control

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Observer-based Control Design for Overhead Crane Systems

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Keywords

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