Title: Vibration damping in gantry crane systems: Finite horizon optimal control approach
Authors: Goubej, Martin
Helma, Václav
Citation: GOUBEJ, M., HELMA, V. Vibration damping in gantry crane systems: Finite horizon optimal control approach. In: Proceedings 2019 24th IEEE InternationalConference on Emerging Technologiesand Factory Automation (ETFA). Zaragoza: Institute of Electrical and Electronics Engineers Inc., 2019. s. 877-882. ISBN 978-1-72810-303-7 , ISSN 1946-0740.
Issue Date: 2019
Publisher: Institute of Electrical and Electronics Engineers Inc.
Document type: konferenční příspěvek
URI: 2-s2.0-85074195879
ISBN: 978-1-72810-303-7
ISSN: 1946-0740
Keywords in different language: anti-sway control;feedforward control;gantry cranes;input shaping;model predictive control;optimal control;vibration control;zero vibration shaper
Abstract: The paper deals with the problem of anti-sway control in human-operated gantry cranes. The goal is to design a suitable algorithm aiming at minimization of unwanted transient and residual oscillations of the manipulated load. A finite horizon optimization is adopted for the derivation of an optimal open-loop control strategy. The novelty of the proposed approach comes from the combination of model-based predictive control and zero-vibration input shaping methods. This allows utilizing some key advantages from both fields in terms of performance, robustness, constraints definition and simplicity of implementation. Experimental case study demonstrates the proposed approach and compares it to conventional input-shaping method.
Rights: Plný text je přístupný v rámci univerzity přihlášeným uživatelům.
© Institute of Electrical and Electronics Engineers Inc.
Appears in Collections:Konferenční příspěvky / Conference Papers (KKY)

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