A number of advanced control systems devoted to speed up the operation of container cranes have been proposed in the literature. In this paper the authors present a comparative analysis involving different control techniques applied to a laboratory sized gantry crane prototype. The comparison is carried out by means of both simulations and real experiments. In particular, two sliding-mode control (SMC) schemes, a P.I.-based controller and a linear observer-based time-varying feedback scheme are compared. The control algorithms have been suited to the path tracking problem of a suspended mass in order to make the comparison more effective.
Output-feedback control of container cranes: a comparative analysis
PISANO, ALESSANDRO;USAI, ELIO
2003-01-01
Abstract
A number of advanced control systems devoted to speed up the operation of container cranes have been proposed in the literature. In this paper the authors present a comparative analysis involving different control techniques applied to a laboratory sized gantry crane prototype. The comparison is carried out by means of both simulations and real experiments. In particular, two sliding-mode control (SMC) schemes, a P.I.-based controller and a linear observer-based time-varying feedback scheme are compared. The control algorithms have been suited to the path tracking problem of a suspended mass in order to make the comparison more effective.
I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione.
