Robust model matching control applied to a crane

Página do item simplificado
dc.contributor.authorLOZANO DE CAMPOS, E. 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.issued2012-09-19
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.identifier.citationLOZANO DE CAMPOS, E. L.; LEONARDI, F. Robust model matching control applied to a crane. 6th Int. Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012, p. 60-65, sept. 2012.
dc.identifier.urihttps://repositorio.fei.edu.br/handle/FEI/4965
dc.relation.ispartof6th Int. Conference on Integrated Modeling and Analysis in Applied Control and Automation, IMAACA 2012, Held at the International Multidisciplinary Modeling and Simulation Multiconference, I3M 2012
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 de evento
fei.scopus.citations0
fei.scopus.eid2-s2.0-84899424335
fei.scopus.subjectClosed-loop control design
fei.scopus.subjectModel matching
fei.scopus.subjectModel uncertainties
fei.scopus.subjectOptimal controls
fei.scopus.subjectParametric uncertainties
fei.scopus.subjectRobust compensators
fei.scopus.subjectRobust modeling
fei.scopus.subjectUncertain parameters
fei.scopus.updated2024-07-01
fei.scopus.urlhttps://www.scopus.com/inward/record.uri?partnerID=HzOxMe3b&scp=84899424335&origin=inward
Arquivos
Coleções
Artigo de evento