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Boundary Stabilization and Motion Control of Flexible Crane Systems

Entessari, Farshid | 2020

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  1. Type of Document: Ph.D. Dissertation
  2. Language: English
  3. Document No: 53587 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Alasty, Aria; Najafi Ardekany, Ali
  7. Abstract:
  8. 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 approach for complicated flexible crane systems and its capacity in vibration stabilizing and motion control.First, in this thesis, a boundary control solution for complicated gantry crane coupled motions has been developed. In addition to the large angle sway motion, the crane cable has a flexural transverse vibration. The hybrid PDE-ODE governing of motion has been derived based on the Hamilton principle. The boundary control approach is utilized in order to move the payload to the desired position, reduce the payload swing with a large sway angle, and finally suppress the cable transverse vibrations in the presence of boundary disturbances simultaneously. Using the Lyapunov method, a boundary control law has been designed, which guarantees the exponential stability of the closed-loop system. Moreover, numerical simulation results are provided by applying the finite difference method.Then, in the next part of this thesis for the crane consisting of a flexible nonlinear vertical manipulator, the integral barrier Lyapunov method is employed, which exerts considerable influence on the control design strategy. The control objectives in this part consist of simultaneous vibrations suppression in constraint zone and large nonlinear angular motion control. Moreover, the novel boundary observer is designed in order to estimate the boundary disturbance amount. In order to illustrate the performance of the proposed control approach, numerical simulation results are provided
  9. Keywords:
  10. Boundary Control ; Locomotion Control ; Flexible Crane System ; Distributed Parameter System ; Vibrations Dissipation

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