Title :
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.
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;
Conference_Titel :
SICE-ICASE, 2006. International Joint Conference
Conference_Location :
Busan
Print_ISBN :
89-950038-4-7
Electronic_ISBN :
89-950038-5-5
DOI :
10.1109/SICE.2006.315715
