Dual-rate Robust Adaptive Control of a Cart-crane System

Author

Ohdaira, Satoshi ; Mizumoto, Ikuro ; Kohzawa, Ryuichi ; Iwai, Zenta

Author_Institution

Dept. of Intelligent Mech. Syst., Kumamoto Univ.

fYear

2006

Firstpage

1800

Lastpage

1805

Abstract

In this paper, the application of the adaptive output feedback control based on ASPR conditions to a cart-crane system is considered. The multirate sampling and lifting technique and dual-rate control is adopted in order to apply the ASPR based adaptive control scheme. Further, for the obtained dual-rate discrete-time system, a robust adaptive output feedback control which can solve the causality problem is proposed and the boundedness of all the signals in the resulting closed loop control system is analyzed

Keywords

adaptive control; closed loop systems; cranes; discrete time systems; feedback; robust control; cart-crane system; causality problem; closed loop control system; dual-rate discrete-time system; dual-rate robust adaptive output feedback control; lifting technique; multirate sampling; Adaptive control; Adaptive systems; Closed loop systems; Control systems; Cranes; Linear feedback control systems; Output feedback; Programmable control; Robust control; Sampling methods; adaptive output feedback control; cart-crane system; dual-rate control; robust adaptive control;

fLanguage

English

Publisher

ieee

Conference_Titel

SICE-ICASE, 2006. International Joint Conference

Conference_Location

Busan

Print_ISBN

89-950038-4-7

Electronic_ISBN

89-950038-5-5

Type

conf

DOI

10.1109/SICE.2006.315715

Filename

4108975