Observer-based proportional-retarded controller for payload swing attenuation of 2D-crane systems including load...

Area of Science:

• Mechatronics and Control Systems Engineering
• Robotics and Automation

Background:

• Crane systems are crucial in industry and research but susceptible to disturbances.
• These disturbances cause payload oscillations, posing risks to safety and system integrity.
• Existing control methods struggle to effectively manage these oscillations and system perturbations.

Purpose of the Study:

• To develop a novel robust observer-based proportional-retarded controller for perturbed two-dimensional cranes.
• To ensure the crane trolley accurately follows a reference signal while minimizing payload variations.
• To enhance the stability and disturbance rejection capabilities of crane systems.

Main Methods:

• Design of a robust observer-based proportional-retarded controller.
• Incorporation of artificial delays to stabilize the closed-loop system.
• Theoretical analysis and experimental validation of the proposed control scheme.

Main Results:

• The proposed controller effectively compensates for disturbances and reduces payload oscillations.
• Experimental results demonstrate superior performance compared to existing methodologies.
• The system achieves stable operation and follows the desired reference signal accurately.

Conclusions:

• The novel robust observer-based proportional-retarded controller offers an effective solution for controlling perturbed 2D crane systems.
• The use of artificial delays is a viable strategy for enhancing system stability and control.
• The proposed method significantly improves safety and efficiency in crane operations.