Adaptive Control of a Planar Gantry Crane by the Switching of Controllers

• KANG Zibo

  Daido Institute of Technology

• FUJII Seizo

  Daido Institute of Technology

• ZHOU Chaojun

  Sim Tech Co. Ltd

• OGATA Kazuya

  Faculty of Engineering, Nagoya University

抄録

An Adaptive switching control scheme is proposed for a planar gantry crane. The length of the crane cable is subject to change in different operating conditions. Based on this control scheme, the control to the planar gantry crane can be switched among several controllers, each designed for a different fixed-length nominal model. Each “fixed-length controller” consists of double loops, one of which is a state feedback controller, and another one is a nonlinear controller aimed to compensate the unknown friction. An “unknown-input observer” is designed to estimate the state variables in order to avoid the influence of the unknown friction. The stability of each “fixed-length controller” is guaranteed by Lyapunov's direct method. Experimental results are presented to demonstrate the effectiveness of the proposed control scheme.

収録刊行物

• 計測自動制御学会論文集

  計測自動制御学会論文集 35 (2), 253-261, 1999

  公益社団法人 計測自動制御学会

キーワード

• switching control
• adaptive control
• crane
• friction
• unknown-input observer

詳細情報

• CRID: 1390282679477111680
• NII論文ID: 130003970856
• NII論文ID: 10002481217
• NII書誌ID: AN00072392
• DOI: 10.9746/sicetr1965.35.253
• ISSN: 18838189
• ISSN: 04534654
• NDL書誌ID: 4655570
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4655570
• Web Site: https://www.jstage.jst.go.jp/article/sicetr1965/35/2/35_2_253/_pdf
• 本文言語コード: en
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可