Fixed-order gain-scheduling anti-sway control of overhead bridge cranes. (November 2016)

• Record Type: Journal Article
• Authors: Ermidoro, Michele; Cologni, Alberto L.; Formentin, Simone; Previdi, Fabio
• Is Part Of: Mechatronics. Volume 39(2016)
• Page Start: 237
• Page End: 247
• Publication Date: 2016-11
• Subjects: Gain-scheduling -- Fixed-order controller -- Bridge cranes; Computer integrated manufacturing systems -- Periodicals; Flexible manufacturing systems -- Periodicals; Mechatronics -- Periodicals; Productique -- Périodiques; Fabrication, Systèmes flexibles de -- Périodiques; Mécatronique -- Périodiques; Computer integrated manufacturing systems; Flexible manufacturing systems; Mechatronics; Periodicals; 629.89
• DOI: 10.1016/j.mechatronics.2016.06.007
• Languages: English
• ISSNs: 0957-4158

Abstract

Abstract: Acceleration and deceleration in overhead cranes may induce undesirable load swinging, which is unsafe for the surrounding human operators. In this paper, it is shown that such oscillatory behavior depends on the length of the rope and thus a gain-scheduling control law is proposed to reduce such an effect. Specifically, to take into account the technological limits in the controller implementation, a fixed-order controller is tuned, by also enforcing robustness and performance constraints. The proposed strategy is experimentally tested on a real bridge crane and compared to a time-invariant solution.