Title :
Control via input shaping of a pneumatic crane system
Author :
Stergiopoulos, J. ; Manesis, S. ; Tzes, A. ; Nikolakopoulos, G.
Author_Institution :
Dept. of Electr. & Comput. Eng., Univ. of Patras, Rio Achaia, Greece
Abstract :
The application of an input shaped controller to a pneumatic crane system is the subject of this paper. Precise positioning of the crane and the suppression of the load-swing during and after the system´s movement dictate the need for careful tuning of the shaper´s parameters. The shaped system´s performance is contrasted in experimental studies with that of a classical on/off controlled case.
Keywords :
control system synthesis; cranes; motion control; pneumatic control equipment; position control; servomechanisms; input shaped controller; input shaping; load-swing; pneumatic crane system; Control nonlinearities; Control systems; Cranes; Frequency; Nonlinear control systems; PD control; Payloads; Shape control; Uncertainty; Vibration control;
Conference_Titel :
American Control Conference, 2005. Proceedings of the 2005
Print_ISBN :
0-7803-9098-9
Electronic_ISBN :
0743-1619
DOI :
10.1109/ACC.2005.1470013
