Anti-Sway Control for Crane Systems: Robust Design with LMI Optimization

Details

10:00 - 10:20 | Thu 23 Aug | Kronborg | ThA5.1

Session: Mechanical Systems

Abstract

This paper proposes an anti-sway control for crane systems using robust Disturbance Feedback Control (DFC). The robust DFC is designed to minimize the sway angle and trolley position via Linear Matrix Inequality (LMI) optimization. The robust DFC is plugged into an existing crane control system, which are constructed by feed forward control and state feedback control. Simulation results for the gantry crane system shows the improvements of control performances when impulse disturbance is added to load angle.