Nonlinear Fuzzy State-Space Modeling and LMI Fuzzy Control of Overhead Cranes

Daniel Leite, Charles Aguiar, Daniel Pereira, Gustavo Souza, Igor Skrjanc

Resultado de la investigación: Capítulo del libro/informe/acta de congresoContribución a la conferenciarevisión exhaustiva

6 Citas (Scopus)

Resumen

The development of feedback control systems for overhead cranes is of great importance due to many potential applications and advantages over manual operation concerning stability and robustness. We represent the key nonlinear dynamics of cranes in a compact state-space fuzzy model. The fuzzy model assists the design of a fuzzy controller through parallel distributed compensation. A conservative linear-matrix-inequality feasibility problem is formulated so that a solution guarantees closed-loop Lyapunov stability, constrained inputs, quick positioning of the supporting cart and suppression of load oscillations. Due to the nonlinear nature of the fuzzy model and controller, Jacobian linearization at a hyperbolic equilibrium is avoided. The proposed fuzzy controller for cranes has shown to be effective, robust and able to move loads smoothly even after collisions. Constrained and smooth inputs avoid actuator saturation and tend to increase its lifetime.

Idioma originalInglés
Título de la publicación alojada2019 IEEE International Conference on Fuzzy Systems, FUZZ 2019
EditorialInstitute of Electrical and Electronics Engineers Inc.
ISBN (versión digital)9781538617281
DOI
EstadoPublicada - jun. 2019
Publicado de forma externa
Evento2019 IEEE International Conference on Fuzzy Systems, FUZZ 2019 - New Orleans, Estados Unidos
Duración: 23 jun. 201926 jun. 2019

Serie de la publicación

NombreIEEE International Conference on Fuzzy Systems
Volumen2019-June
ISSN (versión impresa)1098-7584

Conferencia

Conferencia2019 IEEE International Conference on Fuzzy Systems, FUZZ 2019
País/TerritorioEstados Unidos
CiudadNew Orleans
Período23/06/1926/06/19

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