Naslov
Reference Governor in Control of a Tower Crane Based on Control Invariant Sets

Autori
Ileš, Šandor ; Matuško, Jadranko ; Kolonić, Fetah

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 18th International Conference on Electrical Drives and Power Electronics / - Vysoké Tatry, 2015, 1-6

Skup
International Conference on Electrical Drives and Power Electronics

Mjesto i datum
Vysoké Tatry, Slovačka, 21.09.2015. - 23.09.2015

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Model predictive Control; Reference Governor; 3D Crane

Sažetak
The constrained control of a crane system is often based on control algorithms that utilize control invariant sets to guarantee the stability and constraint satisfaction. This paper presents a reference governor as a way of enlarging the region of attraction for such algorithms under the assumption that the crane is modeled as a series of dynamically coupled subsystems which are controlled separately. The proposed reference governor is based on the fact that dynamics of each subsystem is invariant subject to change in position. Therefore the idea is to enlarge the region of attraction by calculating the sequence of piece-wise constant reference signals. The proposed approach is verified through simulation and experimental test on the laboratory model using controllers based on invariant sets.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA