Title :
Overhead crane control through LQ singular surface design MATLAB Toolbox
Author :
Castillo, Ismael ; Vazquez, Carlos ; Fridman, Leonid
Author_Institution :
Dept. of Control & Robot. Eng., Nat. Autonomous Univ. of Mexico, Mexico City, Mexico
Abstract :
The experimental application of LQ Singular Optimal surface design methodology through a MATLAB Toolbox to an overhead crane is presented. Based on the properties of a given performance index, it is possible to apply all the cases of Higher-Order Sliding Mode Controllers, from conventional Sliding Mode Controller up to Higher-Order Sliding Mode Controller of order n, for a specified system. Moreover, it is illustrated how the MATLAB Toolbox can be a helpful tool to select a better performance option. The experimental results confirm the advantages of the proposed control design methodology.
Keywords :
control system synthesis; cranes; linear quadratic control; variable structure systems; LQ singular optimal surface design methodology; LQ singular surface design; Matlab Toolbox; higher-order sliding mode controllers; linear quadratic control; overhead crane control; Cranes; Dynamics; MATLAB; Mathematical model; Payloads; Performance analysis; Trajectory;
Conference_Titel :
American Control Conference (ACC), 2015
Print_ISBN :
978-1-4799-8685-9
DOI :
10.1109/ACC.2015.7172256
