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Boundary Stabilization and Motion Control of Flexible Crane Systems
, Ph.D. Dissertation Sharif University of Technology ; Alasty, Aria (Supervisor) ; Najafi Ardekany, Ali (Supervisor)
Abstract
In recent years, boundary control (BC) approach for distributed parameter systems and their applications has demonstrated that it can be a well-intentioned candidate for control system design. In this approach, the main focus is on the boundary actions, where the actuators are aligned on the boundaries of the media. BC may be considered as an ideal approach, especially from applied and engineering point of view, because it deals only with actuators and sensors along the boundaries. Moreover, the problem of boundary stabilization and motion control of flexible crane systems has been one of the remarkable problems for control engineers. In this research, we contemplate the boundary control...
Exponential stabilization of flexural sway vibration of gantry crane via boundary control method
, Article JVC/Journal of Vibration and Control ; Volume 26, Issue 1-2 , 2020 , Pages 36-55 ; Najafi Ardekany, A ; Alasty, A ; Sharif University of Technology
SAGE Publications Inc
2020
Abstract
This paper aims to develop a boundary control solution for complicated gantry crane coupled motions. In addition to the large angle sway motion, the crane cable has a flexural transverse vibration. The Hamilton principle has been utilized to derive the governing partial differential equations of motion. The control objectives which are sought include: moving the payload to the desired position; reducing the payload swing with large sway angle; and finally suppressing the cable transverse vibrations in the presence of boundary disturbances simultaneously. These simultaneous boundary control objectives make the problem challenging. The proposed control approach is based on the original...