Robust model matching control applied to a crane

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dc.contributor.authorDE CAMPOS, E. L. L.
dc.contributor.authorFabrizio Leonardi
dc.contributor.authorOrcidhttps://orcid.org/0000-0001-8056-7645
dc.date.accessioned2023-08-26T23:49:18Z
dc.date.available2023-08-26T23:49:18Z
dc.date.issued2012-01-05
dc.description.abstractThis paper discusses the robust closed loop control design subject to parametric uncertainties applied to a crane during a maneuver. Usually crane trajectories are generated by formulating a minimum time optimal control in open loop. However, the optimality of the solution is not maintained due to variations in the plant over time. This work proposes the use of a model matching structure to reduce the problems related to model uncertainties thus trying to preserve the trajectory optimality. The robust compensator minimizes explicitly the matching error between the real plant and the reference plant. In this application the main uncertain parameter is the pendulum length and plays the role of the load lifting. To illustrate the application experiments were done using a lab scale equipment. The results observed are very close to those obtained from numerical simulation.
dc.description.firstpage60
dc.description.lastpage65
dc.description.volume1
dc.identifier.citationDE CAMPOS, E. L. L.; LEONARDI, F. Robust model matching control applied to a crane. International Conference on Integrated Modeling and Analysis in Applied Control and Automation, v. 1, p. 60-65, 2012.
dc.identifier.issn2305-2139
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/4966
dc.relation.ispartofInternational Conference on Integrated Modeling and Analysis in Applied Control and Automation
dc.rightsAcesso Restrito
dc.subject.otherlanguageModel matching
dc.subject.otherlanguageOptimal control
dc.subject.otherlanguageRobust control
dc.titleRobust model matching control applied to a crane
dc.typeArtigo
fei.scopus.citations0
fei.scopus.eid2-s2.0-84897014481
fei.scopus.updated2024-05-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84897014481&origin=inward
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