Linear Matrix Inequalities Based H∞ Control of Gantry Crane using Tensor Product Transformation
S. Iles, F. Kolonic, J. Matusko
University of Zagreb
Abstract
This paper describes a Hinf controller design procedure for tensor product based model of gantry crane augumented with friction model in order to minimize friction effects. The Tensor Product (TP) model transformation is a recently proposed technique for transforming given Linear Parameter Varying (LPV) state-space models into polytopic model form, namely, to parameter varying convex combination of Linear Time Invariant (LTI) systems. Hinf controller guarantee stability and L2 norm bound constraint on disturbance attenuation. Hinf controller is found using relaxed LMIs which have proof of asymptotic convergence to the global optimal controller under quadratic stability. Control algorithm is experimentally tested on single pendulum gantry (SPG).
Full paper
Session
Linear and Non-linear Control System Design (Lecture)
Reference
Iles, S.; Kolonic, F.; Matusko, J.: Linear Matrix Inequalities Based H∞ Control of Gantry Crane using Tensor Product Transformation. Editors: Fikar, M. and Kvasnica, M., In Proceedings of the 18th International Conference on Process Control, Tatranská Lomnica, Slovakia, June 14 – 17, 92–99, 2011.
BibTeX
| @inProceedings{pc2011-086, | ||
| author | = { | Iles, S. and Kolonic, F. and Matusko, J.}, |
| title | = { | Linear Matrix Inequalities Based H$\infty$ Control of Gantry Crane using Tensor Product Transformation}, |
| booktitle | = { | Proceedings of the 18th International Conference on Process Control}, |
| year | = { | 2011}, |
| pages | = { | 92-99}, |
| editor | = { | Fikar, M. and Kvasnica, M.}, |
| address | = { | Tatransk\'a Lomnica, Slovakia}, |
| publisher | = { | Slovak University of Technology in Bratislava}, |
| url | = { | http://www.kirp.chtf.stuba.sk/pc11/data/papers/086.pdf}} |